ros kinetic hokuyo雷达驱动源码安装urg_node

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本文档详细记录了在ROS环境下安装URG激光雷达驱动的具体步骤，包括driver_base的安装、配置及编译，以及如何通过rosrun命令启动激光雷达，并在RVIZ中显示扫描数据。

http://blog.youkuaiyun.com/hongliang2009/article/details/73302986

双目视觉／激光是机器人导航的关键部位，手头激光是hokuyou据说上万大洋，不过查看urg_node好像没有kinetic的版本。根据前人大神经验，实践记录如下。－2017.06.15 乐

安装urg_node

参考网址
 参考网址
 参考网址
１、安装driver_base

cd ~/catkin_ws/src/
mkdir hokuyo
cd hokuyo
git clone https://github.com/ros-drivers/driver_common.git
cd ~/catkin_ws/src/hokuyo/driver_common/driver_base/
mkdir build
cd build
cmake ..
make
sudo make install

cd ~/catkin_ws/src/hokuyo/driver_common/driver_common/
mkdir build
cd build
cmake ..
make
sudo make install

cd ~/catkin_ws/src/hokuyo/driver_common/timestamp_tools/
mkdir build
cd build
cmake ..
make
sudo make install/catkin_ws/src/hokuyo
git clone https://github.com/ros-perception/laser_proc.git
git clone https://github.com/ros-drivers/urg_c.git
//git clone https://github.com/ros-drivers/hokuyo_node.git

//cd ~/catkin_ws/src/hokuyo/laser_proc
//mkdir build
//cd build
//cmake ..
//make
//sudo make install
catkin_make  -DCATKIN_WHITELIST_PACKAGES= "urg_node"

cd ~/catkin_ws/src/hokuyo
git clone https://github.com/ros-drivers/urg_node
cd urg_node
mkdir build
cd build
rosdep install --from-paths ~/catkin_ws/src --ignore-src
catkin_make  -DCATKIN_WHITELIST_PACKAGES= "urg_node"

cd ~/catkin_ws
catkin_make install

2、启动roscore
roscore
3、启动激光(激光ＩＰ192.168.0.10)
rosrun urg_node urg_node _ip_address:=192.168.0.10
4、查看距离
` rostopic list
rostopic echo /scan
5、rviz查看
rosrun rviz rviz
add添加laser　topic ,如果提示fix frame无坐标错误，将启动的坐标位置fixed frame 的map手动改为laser。
打完收工！

hokuyou激光