下载安装包
sudo apt-get install ros-kinetic-hector-slam
进入hector_slam包,在launch目录下添加launch文件
test.lanuch
<launch>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
<include file="$(find hector_slam_launch)/launch/hector_mapping.launch">
<arg name="odom_frame" value="laser">
<arg name="base_frame" value="laser">
<arg name="scan_topic" value="lidar_scan">
</include>
<include file="$(find hector_slam_launch)/launch/geotiff_mapper.launch">
<arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
</include>
</launch>
其中 hector_mapping.launch和geotiff_mapper.launch文件不需要做任何改变。这里注意的是
<arg name="odom_frame" value="laser">
<arg name="base_frame" value="laser">
odom_frame和base_frame都是激光雷达数据发布得frame_id:laser。
启动激光雷达node,以rplidar为例
roslaunch rplidar_ros rplidar.launch
启动hector SLAM建图
roslaunch hector_slam_launch test.launch