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xiaoqiang tutorial (14) using rplidar A2 with gmapping



  • Xiaoqiang Homepage

    Using rplidar A2 with gmapping

    1.Start the gmapping node

    Ensure that the lidar is properly installed, and launch the gmapping launch file after ssh login the host.

    ssh xiaoqiang@192.168.XXX.XXX
    roslaunch gmapping slam_gmapping_xiaoqiang_rplidar_a2.launch
    

    Open rviz in the local virtual machine, select the slam_gmapping/gmapping/launch/rplidar_a2_test.rviz configuration file and open it in Xiaoqiang ROS directory.

    Note: Some systems can't do this. You can copy that file directly to your local computer and open it locally.

    export ROS_MASTER_URI=http://xiaoqiang-desktop:11311
    rviz
    

    0_1536825603040_1b4bcf75-4533-4722-a339-5787e629abb6-image.png

    Wait a few seconds, normal results similar to the following figure will appear.

    0_1536825625702_9328c378-e0f1-4ddf-827a-ca8191efe2dd-image.png

    2.Remote control Xiaoqiang and start to build a map

    The first way: use the windows remote control client, refer to this post

    The second way:using the ssh remote control

    ssh xiaoqiang@192.168.XXX.XXX
    rosrun nav_test control.py
    

    The third way: use mobile app, refer to this post Xiaoqiang mobile remote control app for Android

    0_1536825683715_63efe665-05cd-4256-9af0-f613a33aa6b3-image.png

    3.Save the map

    ssh login Xiaoqiang, in the Xiaoqiang home directory save the map as the beginning of work0 file.

    ssh xiaoqiang@192.168.XXX.XXX
    rosrun map_server map_saver -f work0
    

    0_1536825762493_a2f354b7-a061-4239-b711-71aec4d7da27-image.png

    Xiaoqiang Homepage
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  • @weijizxiaoqiang tutorial (14) using rplidar A2 with gmapping 中说:

    am_gmapping_xiaoqiang_rplida

    0_1543220318823_e4446829-b22e-4f3a-b21f-d0fa76ac54c4-image.png

    启动roslaunch gmapping slam_gmapping_xiaoqiang_rplidar_a2.launch 时报错,是什么原因呢? 会不会影响在rviz中构建地图?



  • @ccsky Check if the rplidar is connected to the car host computer usb port.
    Run "ls /dev " ,check ttyUSB002 is listed or not



  • @xiaoqiang
    0_1543276786115_a5af3842-b3b7-46b4-9559-72ee50ab0ece-image.png

    没有ttyUSB002, 我们用的是XQ-4 Pro的小车。这个不是带有雷达吗?



  • @ccsky 你的雷达没有对应的串口设备。可能是雷达的串口没插好。也有可能雷达是坏的


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