使用2d激光雷达实现cartogrpaher建图

1.安装SlmatecA1激光雷达

参考链接：【很详细】激光雷达初体验 - Ubuntu 18.04 + 思岚科技 RPLIDAR A1M8 + ROS 上手使用_银时大魔王的博客-CSDN博客

测试指令：

//Run rplidar node and view in the rviz
roslaunch rplidar_ros view_rplidar.launch (for RPLIDAR A1/A2)

//Run rplidar node and view using test application
roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2)

测试：

终端1：

sudo chmod 777 /dev/ttyUSB0

终端2：在下载代码的工作空间内，先source，然后选择上述测试指令

//例如
roslaunch rplidar_ros view_rplidar.launch 

2.修改cartographer参数

2.1修改revo_lds.lua [~/car2_ws/src/cartographer_ros/cartographer_ros/configuration_files下]

修改内容:将horizontal_laser_link 修改为 laser

tracking_frame = "horizontal_laser_link",
published_frame = "horizontal_laser_link",

2.2 修改demo_revo_lds.launch[~/car2_ws/src/cartographer_ros/cartographer_ros/launch下】

1.在节点cartographer_node中 将horizontal_lawe_2d改为scan

 2.删除两个节点 【不要注释，不然运行该launch文件会报错】

 3.退回，重新编译cartographer

catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

4.测试：

运行激光雷达：

终端1：

sudo chmod 777 /dev/ttyUSB0

终端2：

roslaunch rplidar_ros rplidar.launch

运行cartographer demo

roslaunch cartographer_ros demo_revo_lds.launch