[ROS学习笔记]使用激光雷达（RPLIDAR）测试hector_mapping

1、创建工作空间及安装编译rplidar包

参考[ROS学习笔记]ROS中使用激光雷达（RPLIDAR）步骤1，链接为：

http://blog.csdn.net/sdhjqhjq1/article/details/79143498

2、hector_mapping包安装

sudo apt-get install ros-indigo-hector-slam

3、创建launch文件

在rplidar_ros/launch/目录下添加hector_mapping_demo.launch文件

<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>

4、运行测试

运行前查看端口号、给予端口权限

lsusb

sudo chmod a+rw /dev/ttyUSB0

运行下列两个launch文件

roslaunch rplidar_ros hector_mapping_demo.launch

roslaunch rplidar_ros rplidar.launch

即可得出雷达在扫描周围环境

参考：https://github.com/robopeak/rplidar_ros/wiki

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