rplidar使用hector_slam的hector_mapping geotiff创建地图方法

1.下载RPLIDAR包到catkin_ws/src

$ git clone https://github.com/robopeak/rplidar_ros

$ cd ~/catkin_ws

$ catkin_make

 

 

2. 安装hector_slam

$ sudo apt-get install ros-indigo-hector-slam

 

 

3.安装map_server

$  sudoapt-get install ros-indigo-map-server

 

 

4.编辑linux 启动的rules ,使其他用户自动连接到 lplidar 的连接 /dev/ttyUSB0 口

$ sudo nano/etc/udev/rules.d/50-usb-seial.rules

 

添加：

SUBSYSTEMS=="usb",KERNEL=="ttyUSB0", MODE="0666"

 

 

5.在hector_slam_launch 包 launch 目录 ，增加三个launch文件 如下：

Slam.launch:

<launch>

 

<paramname="/use_sim_time" value="false"/>

  <node pkg="rviz"type="rviz" name="rviz" args="-d $(findhector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>

<includefile="$(find hector_slam_launch)/launch/hector_mapping.launch"/>