P+F--r2000激光雷达slam技术实现

1.下载驱动；

http://wiki.ros.org/pepperl_fuchs_r2000

git clone https://github.com/dillenberger/pepperl_fuchs

 新建一个ros_pk

mkdir -p pf_laser/src
cd pf_laser
catkin_make

将pepperl_fuchs_r2000拷贝进pf_laser/src

再次编译：catkin_make;

cd pf_laser

测试程序是否无误：

source ./devel/setup.bash
rosrun pepperl_fuchs_r2000 r2000_node

2.修改pepperl_fuchs-master/pepperl_fuchs_r2000/launch/r2000.launch将文件内部的

  <arg name="scanner_ip" default="10.0.10.9"/>
  <arg name="scan_frequency" default="35"/>
  <arg name="samples_per_scan" default="3600"/>

修改对应的IP以及频率和每圈采样点数；

source ./devel/setup.bash
roslaunch pepperl_fuchs_r2000 r2000.launch

3.并在pepperl_fuchs-master/pepperl_fuchs_r2000/launch/r2000.launch加入：

<launch>
  <arg name="frame_id" default="/scan"/>
  <arg name="scanner_ip" default="192.168.1.112"/>
  <arg name="scan_frequency" default="50"/>
  <arg name="samples_per_scan" default="72"/>

  <!-- R2000 Driver -->
  <node pkg="pepperl_fuchs_r2000" type="r2000_node" name="r2000_node" respawn="true" output="screen">
    <param name="frame_id" value="$(arg frame_id)"/>
    <param name="scanner_ip" value="$(arg scanner_ip)"/>
    <param name="scan_frequency" value="$(arg scan_frequency)"/>
    <param name="samples_per_scan" value="$(arg samples_per_scan)"/>
  </node>

<launch>
  <arg name="frame_id" default="/scan"/>
  <arg name="scanner_ip" default="192.168.1.112"/>
  <arg name="scan_frequency" default="50"/>
  <arg name="samples_per_scan" default="72"/>

  <!-- R2000 Driver -->
  <node pkg="pepperl_fuchs_r2000" type="r2000_node" name="r2000_node" respawn="true" output="screen">
    <param name="frame_id" value="$(arg frame_id)"/>
    <param name="scanner_ip" value="$(arg scanner_ip)"/>
    <param name="scan_frequency" value="$(arg scan_frequency)"/>
    <param name="samples_per_scan" value="$(arg samples_per_scan)"/>

    <remap from="scan" to="/r2000_node/scan"/>

  </node>

因为初始的r2000激光雷达话题为/r2000_node/scan；gampping构建地图使用/scan话题；