安裝 slam

Set Up a Catkin Workspace and Install RPLIDAR ROS Packages

1. Update the package list
   ​​​​sudo apt-get update
   

2. Install the following dependencies
   ​​​​sudo apt-get install cmake python-catkin-pkg python-empy python-nose python-setuptools libgtest-dev python-rosinstall python-rosinstall-generator python-wstool build-essential git
   

3. Create the catkin workspace
   ​​​​mkdir -p ~/catkin_ws/src
   ​​​​cd ~/catkin_ws/
   

4. edit the .bashrc text file
   ​​​​gedit ~/.bashrc
   

sudo apt-get install gedit

5. Make sure these two lines are at the end of the .bashrc file

   ​​​​source /opt/ros/melodic/setup.bash
   ​​​​source ~/catkin_ws/devel/setup.bash
   

6. Save the file, and close it

   ​​​​source ~/catkin_ws/devel/setup.bash
   ​​​​cd src
   

7. Clone the RPLIDAR and go to the root of the workspace

   ​​​​sudo git clone https://github.com/Slamtec/rplidar_ros.git
   ​​​​cd ~/catkin_ws/
   ​​​​catkin_make
   

8. change error

   ​​​​cd ~/catkin_ws/src/rplidar_ros/src
   ​​​​sudo chmod +x node.cpp
   ​​​​sudo gedit node.cpp
   

   • chage this
     • ROS_INFO("RPLIDAR running on ROS package rplidar_ros. SDK Version:"RPLIDAR_SDK_VERSION"");
   • to this
     • ROS_INFO("RPLIDAR running on ROS package rplidar_ros. SDK Version:" RPLIDAR_SDK_VERSION "");

9. Go to the root of the workspace and compile workspace

   ​​​​cd ~/catkin_ws/
   ​​​​catkin_make
   

10. Launch the RPLIDAR launch file

    ​​​​roslaunch rplidar_ros rplidar.launch
    ​​​​rostopic list
    

11. see LIDAR data

    ​​​​rostopic echo /scan
    

Run rviz

1. Launch RPLIDAR
   ​​​​roslaunch rplidar_ros rplidar.launch
   

2. launch rviz
   ​​​​rviz
   

Download the Hector-SLAM Package

1. Move to your catkin workspace’s source folder

   ​​​​cd ~/catkin_ws/src
   

2. download the Hector-SLAM package

   ​​​​git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
   

3. Go to the launch file for Hector-SLAM. All of this below is a single command

   ​​​​sudo gedit ~/catkin_ws/src/hector_slam/hector_mapping/launch/mapping_default.launch
   

   • change this
     ​​​​​​​​<arg name="base_frame" default="base_footprint"/>
     ​​​​​​​​<arg name="odom_frame" default="nav"/>
     

   • to this
     ​​​​​​​​<arg name="base_frame" default="base_link"/>
     ​​​​​​​​<arg name="odom_frame" default="base_link"/>
     

   • change this
     ​​​​​​​​<!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
     

   • to this
     ​​​​​​​​<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>
     

4. Type the following command

   ​​​​cd ~/catkin_ws/src/hector_slam/hector_slam_launch/launch
   

5. Open the tutorial.launch file

   ​​​​gedit tutorial.launch
   

   • change this
     ​​​​​​​​<param name="/use_sim_time" value="true"/>
     

   • to this
     ​​​​​​​​<param name="/use_sim_time" value="false"/>
     

6. Save the file, and close it

cd ~/catkin_ws/
catkin_make