1.源码下载:
https://github.com/ros-drivers/driver_common/tree/indigo-devel
https://github.com/ros-drivers/hokuyo_node/tree/indigo-devel
注:出现问题时需要先编译driver_come包。
2.给数据线端口权限 sudo chmod 777 /dev/ttyACM0
或在/etc/udev/rules.d添加规则文件 hokuyo.rules
3.测试:
roscore
source devel/setup.bash
rosrun hokuyo_node hokuyo_node
打开rviz查看激光数据