[Ros Learning notes] using laser Radar (Rplidar) to test Hector_mapping_ros learning

1. Create workspace and install compile Rplidar package

Reference [Ros Learning notes]ros using LIDAR (Rplidar) Step 1, link to:

http://blog.csdn.net/sdhjqhjq1/article/details/79143498

2, hector_mapping package installation

sudo apt-get install Ros-indigo-hector-slam

3. Create launch files

Add hector_mapping_demo.launch files to the rplidar_ros/launch/directory

<launch> <node pkg= "hector_mapping" type= "hector_mapping" name= "hector_mapping" output= "screen" > <!-- Frame names--> <param name= "Pub_map_odom_transform" value= "true"/> <param name= "map_frame" value= "map"/ > <param name= "base_frame" value= "Base_link"/> <param name= "odom_frame" value= "Base_link"/> <!--Tf Use--> <param name= "Use_tf_scan_transformation" value= "true"/> <param name= "Use_tf_pose_start_estimate" Value= "false"/> <!--Map Size/start point--> <param name= "map_resolution" value= "0.05"/> <param nam E= "Map_size" value= "2048"/> <param name= "map_start_x" value= "0.5"/> <param name= "map_start_y" value= "0.5" /> <param name= "laser_z_min_value" value = " -1.0"/> <param name= "laser_z_max_value" value = "1.0"/> <p Aram Name= "Map_multi_res_levels" value= "2"/> <param name= "Map_pub_period" value= "2"/> <param name= "Laser_ Min_dist "value=" 0.4 "/> <param name= "Laser_max_dist" value= "5.5"/> <param name= "output_timing" value= "false"/> <param "name=" Scanmatch_transform "value=" true "/> <!--<param name=" Tf_map_scanmatch_transform_frame_name "value=" Scanmatcher_frame "/>--> <!--Map update parameters--> <param name=" Update_factor_free "value=" 0.4 "
; <param name= "update_factor_occupied" value= "0.7"/>     <param name= "Map_update_distance_thresh" value= "0.2"/> <param name= "Map_update_angle_thresh" value= "0.06"/> <!--advertising config-->  &l
T;param name= "Advertise_map_service" value= "true"/> <param name= "scan_subscriber_queue_size" value= "5"/> <param name= "scan_topic" value= "Scan"/> </node> <node pkg= "TF" type= "Static_transform_publisher" name= "Base_to_laser_broadcaster" args= "0 0 0 0 0 0/base_link/laser"/>   <node pkg= "Rviz" type= "Rviz" Name= "R Viz "    args="-D $ (find Hector_slam_launch)/rviz_cfg/mApping_demo.rviz "/> </launch> 

4, run the test

View port numbers before running, granting port permissions

Lsusb

sudo chmod a+rw/dev/ttyusb0

Run the following two launch files

Roslaunch Rplidar_ros Hector_mapping_demo.launch

Roslaunch Rplidar_ros Rplidar.launch

We can get the radar scanning the surrounding environment

Reference: Https://github.com/robopeak/rplidar_ros/wiki

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