安裝 slam - HackMD

# 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 ``` :::info ``` 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 ```  ``` - 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 ```