这玩意本身没有技术难度,单纯记录一下节省以后搜索时间
1.创建工作空间,并安装驱动:
cd ~/catkin_ws/src
git clone https://github.com/robopeak/rplidar_ros.git
2.单独对软件包编译:
cd ..
catkin_make --pkg rplidar_ros
3.创建别名:
cd ~/catkin_ws/src/rplidar_ros/
./scripts/create_udev_rules.sh
4.打开rplidar.launch,更换端口号:
sudo gedit launch/rplidar.launch
5.修改/dev/ttyUSB0为/dev/rplidar,如下:
<param name="serial_port" type="string" value="/dev/rplidar"/>
6.安装ros-hector-slam
sudo apt-get install ros-kinetic-hector-slam
7.进入launch文件夹下,在文件夹下添加hector_mapping_demo.launch文件
cd ~/catkin_ws/src/rplidar_ros/launch/
touc