转载666
cd ~/catkin_ws/src
git clone https://github.com/ros-drivers/driver_common.git
cd ..
catkin_make
cd src
git clone https://github.com/ros-drivers/hokuyo_node.git
cd ..
catkin_make
修改串口权限;
sudo chmod a+rw /dev/ttyACM0
打开一个新终端,运行roscore;
roscore
打开一个新终端,运行hokuyo_node节点;
rosrun hokuyo_node hokuyo_node
打开一个新终端,查看是否正常接收雷达数据;
rostopic echo /scan
(1)点击rviz左下角Add,添加LaserScan;
(2)点击Global Option下方的Fixed Frame,将右边的参数改为laser;
(3)点击LaserScan下面的Topic,改为/scan;
(4)点击LaserScan下面的Style,改为Point;