首先确保你已经在树莓派或者自己的电脑上配置好ROS
安装准备
mkdir -p ~/turtlebot_ws/src
cd ~/turtlebot_ws/src
git clone https://github.com/ncnynl/rplidar_ros.git
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
cd ..
catkin_make
添加环境变量
source /turtlebot_ws/devel/setup.bash
永久添加)
echo “source ~/turtlebot_ws/devel/setup.bash” >> ~/.bashrc
source ~/.bashrc
安装驱动
sudo apt-get install ros-noetic-rplidar-ros ---no ruanjianbao wufadingwei(如果找不到安装包,用git下载,自行搜索)
mkdir -p ~/turtlebot_ws/src
cd ~/rplidar_test/src
git clone https://gitee.com/h_yun/rplidar_ros.git
我的文件 '/home/cxy/turtlebot_ws/src/rplidar_ros/launch
sudo apt-get install ros-noetic-hector-slam (ok)
sudo apt-get install ros-noetic-map-server (-ok)
创建启动文件
在rplidar_ros中新建一个slam.launch文件
在rplidar_ros/launch/目录下添加slam.launch文件:
内容:
<launch>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.05"/>
<param name="map_size" value="2048"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<param name="map_multi_res_levels" value="2" />
<param name="map_pub_period" value="2" />
<param name="laser_min_dist" value="0.4" />
<param name="laser_max_dist" value="5.5" />
<param name="output_timing" value="false" />
<param name="pub_map_scanmatch_transform" value="true" />
<!--<param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame" />-->
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="5"/>
<param name="scan_topic" value="scan"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100"/>
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
</launch>
使用过程
连接雷达
ls /dev/ttyUSB* 或者 $ls -l /dev|grep ttyUSB
sudo chmod 666 /dev/ttyUSB0
测试界面(开两个终端)
roscore
rplidar_text------>turtlebot_ws
cd ~/turtlebot_ws (自行选择 ,进入rplidar_ros之前的文件夹)
. devel/setup .bash
roslaunch rplidar_ros view_rplidar.launch
实时输出(可能需要配置一些安装包,忘记了之前的安装)
roslaunch rplidar_ros rplidar.launch
rosrun rplidar_ros rplidarNodeClient
建图
roslaunch rplidar_ros text0.launch
(之前写的launch文件)
保存:
rosrun map_server map_saver -f ~/my_map
或者,在stdr_gmapping的maps目录下执行命令如下
rosrun map_server map_saver map:=/hector_map -f mymap