tx2+r2000激光雷达 hector建图

在上章跑通r2000例程后，利用hector算法实现纯激光雷达建图

第一步

在gui_example.lauch文件中屏蔽dummy_slam_broadcaster和rvizLocal节点，并着重修改参数scanner_ip和frame_id。完整代码如下

<?xml version="1.0"?>
<launch>
  <node pkg="pepperl_fuchs_r2000" type="r2000_node" name="r2000_driver_node" output="screen">
    <param name="scanner_ip" value="192.168.1.19"/>
    <param name="frame_id" value="laser_link"/>
    <param name="scan_frequency" value="35"/>
    <param name="samples_per_scan" value="3600"/>
  </node>
  <!--<node pkg="dummy_slam_broadcaster" type="dummy_slam_broadcaster_node" name="dummy_slam_broadcaster"/>
  <node name="rvizLocal" pkg="rviz" type="rviz" respawn&#