通过上一节:http://blog.csdn.net/zhu751191958/article/details/78970567 我们已经完成在树莓派3B上对EAI X4激光雷达进行了驱动,现在我们使用点云数据通过hector_slam构建地图
进入src文件目录下:
cd ~/eaix4_ws/src
下载hector_slam包:
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
cd ~/eaix4_ws
重新编译:
catkin_make
######################################
cd ~/eaix4_ws/src/hector_slam/hector_slam_launch/launch/
sudo vim All_nodes.launch
往里面添加以下代码:
<launch>
<include file="$(find ydlidar)/launch/x4.launch" />
<node pkg="tf" type="static_transform_publisher"
name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_link 40"
/>
<node pkg="tf" type="static_transform_publisher"
name="base_frame_laser" args="0 0 0 0 0 0 /base_link /laser_frame
40" />
<!--<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find
hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>-->
<include file="$(find
hector_mapping)/launch/mapping_default.launch" />