RPLidar Hector SLAM 使用步骤

1. git clone https://github.com/NickL77/RPLidar_Hector_SLAM.git
2. 安装qt4 具体见https://ubuntuhandbook.org/index.php/2020/07/install-qt4-ubuntu-20-04/
   The Qt4 framework has been removed from Ubuntu 20.04 main repository. It is however still required for some obsolete applications.

Though it is not recommended, you can still get Qt4 libraries (e.g., libqt4-declarative, qt4-dev-tools, qt4-qmake, libqtwebkit4, and more) as software dependencies or for building an application via this third-party PPA.

1.) Open terminal either by pressing Ctrl+Alt+T on keyboard or by searching for ‘terminal’ from your system application launcher. When terminal opens, run command:

sudo add-apt-repository ppa:rock-core/qt4

Type user password (no asterisk feedback) when it prompts and hit enter.
For Ubuntu 20.10 users sticking to Qt4 libraries, try well trusted UNetbootin PPA.

The PPA built Qt4 package as dependency libraries since Unetbootin was based on Qt4.

sudo add-apt-repository ppa:gezakovacs/ppa

2.) After adding the PPA, it should automatically refresh the system package cache. On some Ubuntu derivatives, you may run command to manually update the package cache:

sudo apt update

3.) Finally install the software .deb package, and it should automatically install the required Qt4 libraries after running sudo apt -f install.

Or you may install specified Qt4 package by running command:

sudo apt install PACKAGE_NAME

See here for a full list of available Qt4 libraries.

Uninstall Qt4:

To remove the PPA, run command:

sudo add-apt-repository --remove ppa:rock-core/qt4

To remove all Qt4 libraries, run command:

sudo apt remove --autoremove libqt4* libqtcore4 libqtgui4 libqtwebkit4 qt4*
3.注释掉CmakeList中的find_package(Boost REQUIRED COMPONENTS thread signals)
参照https://blog.csdn.net/Brandonsemenuk/article/details/115741799
4.Using Hector SLAM without odometry data on a ROS system with the RPLidar A1.

Install ROS full desktop version (tested on Kinetic) from: http://wiki.ros.org/kinetic/Installation/Ubuntu
Create a catkin workspace: http://wiki.ros.org/ROS/Tutorials/CreatingPackage
Clone this repository into your catkin workspace
In your catkin workspace run source /devel/setup.bash
Run chmod 666 /dev/ttyUSB0 or the serial path to your lidar
Run roslaunch rplidar_ros rplidar.launch
Run roslaunch hector_slam_launch tutorial.launch
RVIZ should open up with SLAM data