rplidar + hector

rplidar包安装

安装并编译

cd ~/catkin_ws/srcgit clone https://github.com/robopeak/rplidar_ros.gitcd ~/catkin_wscatkin_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>

然后运行下面两个launch，命令如下:

roslaunch rplidar_ros hector_mapping_demo.launchroslaunch rplidar_ros rplidar.launch

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存在的问题：

问题1：

经常出现“SearchDir angle change too large”报错。
原因：
rplidar出现剧烈移动或抖动，又或者周边环境在发生大的变化。