RPLIDAR激光雷达

https://blog.csdn.net/whl970831/article/details/88149234

https://blog.csdn.net/yongbutuifei/article/details/120050808

安装库

rplidar_ros，https://github.com/Slamtec/rplidar_ros

hector_slam，https://github.com/tu-darmstadt-ros-pkg/hector_slam

编译caktin_make

修改bashrc，添加source指令

修改launch文件

修改hector_slam_launch/launch/tutorial.launch

  1. <param name="/use_sim_time" value="false"/>

修改hector_mapping/launch/mapping_default.launch

  1. <arg name="base_frame" default="/laser"/>
  2. <arg name="odom_frame" default="/laser"/>

运行

  1. ls -l /dev |grep ttyUSB
  2. sudo chmod 666 /dev/ttyUSB0
  1. roslaunch rplidar_ros rplidar_a3.launch
  1. roslaunch hector_slam_launch tutorial.launch
  1. rosbag record /scan
  1. rostopic echo /tf/transforms[0] > laser.txt