ubuntu 14.04+indigo环境下dashgo d1+lms100运行环境搭建建图

1、设置用户的串口读取权限

       $ sudo usermod -a -G dialout your_user_name             // your_user_name替换为实际用户名.

2、安装ROS依赖包

     $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

     $ sudo apt-get update

    $ sudo apt-get install ros-indigo-serial ros-indigo-turtlebot-rviz-launchers ros-indigo-move-base-msgs libghc-sdl-image-dev libsdl-image1.2-dev ros-indigo-navigation ros-indigo-slam-gmapping ros-indigo-teb-local-planner

      $ sudo apt-get install git  python-serial ros-indigo-serial g++

3、若还没有搭建Dashgo运行环境，便可直接执行以下操作：

$ mkdir -p  ~/dashgo_ws/src

$ cd ~/dashgo_ws/src

4、下载 Dashgo SLAM 版本
    $ git clone https://github.com/EAIBOT/dashgo.git
    $ cd dashgo

    $ git checkout slam_02

5、下载LMS100激光雷达驱动

$ cd ~/dashgo_ws/src

$ git clone https://github.com/ncnynl/LMS1xx.git

6、下载建图依赖包

$ git clone https://github.com/ros-perception/slam_gmapping.git
$ git clone https://github.com/ros-perception/openslam_gmapping.git

$ git clone -b indigo-devel https://github.com/ros-planning/navigation.git

7、复制gmapping_demo.launch文件来生成gmapping_lms100.launch文件

 cp dashgo/dashgo_nav/launch/gmapping_demo.launch dashgo/dashgo_nav/launch/gmapping_lms100.launch

8、使用下面命令

$ gedit dashgo/dashgo_nav/launch/gmapping_lms100.launch

修改gmapping_lms100.launch文件内容如下

<launch>
   <node name="arduino" pkg="dashgo_bringup" type="dashgo_driver.py" output="screen">
      <rosparam file="$(find dashgo_bringup)/config/my_dashgo_params.yaml" command="load" />
   </node>
   <arg name="host" default="192.168.0.1" />
   <node name="lms1xx" pkg="lms1xx" type="LMS1xx_node">
      <param name="host" value="$(arg host)" />
   </node>
   <include file="$(find dashgo_description)/launch/dashgo_description.launch"/>
   <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4" args="0.0 0.0 0.2 0.0 3.1415926  0.0 /base_link /laser_lms100 40" />
   <include file="$(find dashgo_nav)/launch/gmapping.launch"/>
   <include file="$(find dashgo_nav)/launch/move_base.launch"/>
</launch>

9、然后编译

$ cd ~/dashgo_ws/

$ rosdep install --from-paths src --ignore-src -r -y

$ catkin_make

10、echo "source ~/dashgo_ws/devel/setup.bash" >> ~/.bashrc

11、创建串口

$ cd ~/dashgo_ws/src/dashgo/dashgo_bringup/startup

$ sudo sh create_dashgo_udev.sh

12、使用下面命令来建图

建图指令：roslaunch dashgo_nav gmapping_lms100.launch
键盘控制：rosrun teleop_twist_keyboard teleop_twist_keyboard.py
开启rviz观察：roslaunch turtlebot_rviz_launchers view_navigation.launch

地图保存：    roscd dashgo_nav/maps

                    mkdir ~/map

                    rosrun map_server map_saver -f ~/map/my_map