hokuyo激光雷达安装测试

最近在学习使用激光雷达跑Cartographer，手上的激光雷达是北阳hokuyo UST-20LX，端口为网口。
下面安装激光雷达，主要参考博客https://blog.csdn.net/hongliang2009/article/details/73302986
端口为网口的激光雷达需要安装的是urg_node，端口为USB口的如UST-30LX则需要安装hokuyo_node。
我们这里安装urg_node
1、安装driver_base

cd ~/catkin_ws/src/
mkdir hokuyo
cd hokuyo
git clone https://github.com/ros-drivers/driver_common.git
cd ~/catkin_ws/src/hokuyo/driver_common/driver_base/
mkdir build
cd build
cmake ..
make
sudo make install

cd ~/catkin_ws/src/hokuyo/driver_common/driver_common/
mkdir build
cd build
cmake ..
make
sudo make install

cd ~/catkin_ws/src/hokuyo/driver_common/timestamp_tools/
mkdir build
cd build
cmake ..
make
sudo make install

我在第一个sudo make install时报错（ImportError: No module named genmsg），解决方法

export PYTHONPATH=/opt/ros/kinetic/lib/python2.7/dist-packages/

然后把这一层的build里的东西删掉重新cmake。具体可以看https://stackoverflow.com/questions/