hector_mapping使用方法转载的

最新推荐文章于 2025-05-13 13:09:58 发布

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本文详细介绍如何在ROS环境中配置并使用rplidar激光雷达进行即时定位与地图构建(SLAM)。通过安装rplidar_ros及hector_mapping包，并设置相应的参数，实现基于rplidar的数据采集和实时地图构建。文中提供了详细的步骤说明与配置文件示例。

学习ROS基础网址：http://blog.exbot.net/archives/1316

https://blog.youkuaiyun.com/EAIBOT/article/details/51044718

cd ~/catkin_ws/src
git clone https://github.com/robopeak/rplidar_ros.git
cd ~/catkin_ws
catkin_make --pkg rplidar_ros
hector_mapping包安装
安装方式如下：

sudo apt-get install ros-indigo-hector-slam
测试
在rplidar_ros/launch/目录下添加hector_mapping_demo.launch文件，内容如下：

<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 name="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" />
<param 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="pub_map_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 --> 
<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 100"/>

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

</launch>

运行插上激光雷达

sudo chmod a+rw /dev/ttyUSB0

之后运行：

roslaunch rplidar_ros hector_mapping_demo.launch 

roslaunch rplidar_ros rplidar.launch