cartographer配置雷达
时间: 2023-09-28 11:13:29 浏览: 57
配置cartographer雷达的步骤如下:
1. 首先,从官方网站、GitHub或ROS Wiki中找到你所使用的雷达对应的SRC驱动程序。
2. 确保你已经安装了所需的驱动程序,在Ubuntu上可以正常使用雷达。
3. 修改cartographer_ros-launch-demo_revo_lds.launch文件,具体如下:
```
<launch>
<param name="/use_sim_time" value="false" />
<node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args=" -configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename revo_lds.lua" output="screen">
<remap from="scan" to="scan" />
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros" type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<node name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
</launch>
```
4. 保存并关闭文件。
5. 打开终端,运行以下命令启动配置好的cartographer:
```
roslaunch cartographer_ros demo_revo_lds.launch
```
6. 现在,你的cartographer雷达配置完成了。