cartographer之rplidar、EAIydlidar、杉川雷达配置过程

cartographer之rplidar、EAIydlidar、杉川雷达配置过程

一、配置环境（安装驱动）

1、系统环境：ubuntu16.04+ROS-kinetic

2、安装ROS-kinetic 详细说明过程 http://wiki.ros.org/kinetic/Installation/Ubuntu

二、代码程序

见附件

三、说明文档（配置步骤+代码说明）

3.1 配置过程

1、安装protobuf3

# 首先安装protobuf
sudo apt-get install autoconf autogen
git clone https://github.com/protocolbuffers/protobuf.git
cd protobuf
git submodule update --init --recursive
./autogen.sh
./configure
make
make check
sudo make install
sudo ldconfig # refresh shared library cache.

检查protobuf版本

protoc --version
libprotoc 3.6.1

添加环境变量来确保连接到正确的prtobuf版本

which protoc
/usr/local/bin/protoc
export PROTOBUF_PROTOC_EXECUTABLE=/usr/local/bin/protoc

2、安装cartographer

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src


# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

安装完成！！！

3.2 雷达测试

3.2.1 rplidar配置过程

#连接好雷达
ls /dev/ttyUSB*
sudo chmod 666 /dev/ttyUSB0

如果没有配置过rplidar_ros下的过程，可参考hector-slam详细配置过程;

如果配置过，直接进入