首先,在pi上安装rospack
sudo apt install ros-melodic-rplidar-ros
然后,主要参照第二章:
https://www.cnblogs.com/BlueMountain-HaggenDazs/p/6523330.html
其中第二章 第4节运行
sudo udevadm trigger
而不是
sudo service udev reload
sudo service udev restart
用类似方法把arduino的别名也设置了,记得改arduino的加载名称,在这里:
sudo nano ~/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/config/my_arduino_params.yaml
达到效果为,用以下命令查看
ls -l /dev |grep ttyUSB
然后,在pi上:
roscd rplidar_ros
sudo nano launch/rplidar.launch
修改
<param name="serial_port" type="string" value="/dev/rplidar"/>
由于激光雷达node在pi,而其他node在桌面电脑,所以在桌面电脑也安装rplidar_ros,在桌面电脑:
sudo apt install ros-melodic-rplidar-ros
roscd rplidar_ros
sudo nano launch/view_rplidar.launch
删除
<include file="$(find rplidar_ros)/launch/rplidar.launch" />
在pi:
roslaunch rplidar_ros rplidar.launch
在桌面电脑:
roslaunch rplidar_ros view_rplidar.launch
即可在rviz中查看雷达图,比伪激光快,质量高,cpu占用少,还是那句话,能烧硬件就别折腾软件,能用花钱的就别用免费的,哎。
参考:https://www.cnblogs.com/BlueMountain-HaggenDazs/p/6523330.html
https://unix.stackexchange.com/questions/66901/how-to-bind-usb-device-under-a-static-name/66916#66916
http://wiki.ros.org/rplidar