手持激光雷达建图

1.安装依赖库，以ros-melodic版本为例，终端输入，

sudo apt install ros-melodic-moveit ros-melodic-moveit-visual-tools ros-melodic- kdl-* ros-melodic-joint-state-publisher-gui ros-melodic-trac-ik liborocos-kdl-dev ros-melodic-teleop-twist-keyboard ros-melodic-moveit-resources ros-melodic- navigation ros-melodic-gmapping ros-melodic-hector-slam ros-melodic-slam-karto ros-melodic-robot-state-publisher ros-melodic-geographic-msgs ros-melodic-libuvc- * ros-melodic-rtabmap-ros libavformat-dev libavcodec-dev libswresample-dev libswscale-dev libavutil-dev libsdl1.2-dev ros-melodic-pointcloud-to-laserscan ros-melodic-mbf-msgs ros-melodic-mbf-costmap-core ros-melodic-costmap-converter ros-melodic-bfl ros-melodic-serial ros-melodic-teleop-twist-joy ros-melodic- laser-proc ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros- melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-urdf ros-melodic-xacro ros- melodic-interactive-markers ros-melodic-octomap* ros-melodic-joy* ros-melodic- dwa-local-planner ros-melodic-multirobot-map-merge python-catkin-tools python3- dev python3-catkin-pkg-modules python3-numpy python3-yaml build-essential ros- melodic-imu-tools ros-melodic-cartographer*

2.启动建图命令

在启动建图命令之前，需要安装 gmapping 包(用于构建地图)：

sudo apt install ros-<ROS版本>-gmapping

然后以gmapping建图为例，终端输入

roslaunch oradar_lidar test_gmapping.launch 

其中test_gmapping.launch文件的内容如下

<launch>
    
    <include file="$(find oradar_lidar)/launch/ms200_scan.launch"/>
    <include file="$(find rf2o_laser_odometry)/launch/rf2o_laser_odometry.launch"/>
    <!--    激光雷达的坐标系-->
    <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
          args="0 0 1 0 0 0  /base_link /laser  100"/>
    <include file="$(find oradar_lidar)/launch/gmapping.launch"/>
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find oradar_lidar)/rviz/test_map.rviz" />

</launch>

出现以下画面，即表示成功运行