配置:Ubuntu16.04,kinetic , turtlebot-kobuki, rslidar-16
1.配置好雷达驱动rslidar,turtlebot相关安装包。
2.在catkin_rp(雷达)工作空间下,新建launch文件
roscd pointcloud_to_laserscan/launch
gedit turtlebot_rslidar.launch
内容如下:
<?xml version="1.0"?>
<launch>
<!-- run pointcloud_to_laserscan node -->
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="/rslidar_points"/>
<remap from="scan" to="/rslidar/scan"/>
<rosparam>
# target_frame: rslidar # Leave disabled to output scan in pointcloud frame
transform_tolerance: 0.01
min_height: -0.4
max_height: 1.0
angle_min: -3.1415926 # -M_PI