ubuntu 14.04+indigo环境下dashgo d1+lms100运行环境搭建建图

1、设置用户的串口读取权限

$ sudo usermod -a -G dialout your_user_name // your_user_name替换为实际用户名.

2、安装ROS依赖包

$sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

$sudo apt-get update

$sudo apt-get install ros-indigo-serial ros-indigo-turtlebot-rviz-launchers ros-indigo-move-base-msgs libghc-sdl-image-dev libsdl-image1.2-dev ros-indigo-navigation ros-indigo-slam-gmapping ros-indigo-teb-local-planner

$ sudo apt-get install git python-serial ros-indigo-serial g++

3、若还没有搭建Dashgo运行环境，便可直接执行以下操作：

$ mkdir -p ~/dashgo_ws/src

$ cd ~/dashgo_ws/src

4、下载 Dashgo SLAM 版本
$ git clone https://github.com/EAIBOT/dashgo.git
$ cd dashgo

$ git checkout slam_02

5、下载LMS100激光雷达驱动

$ cd ~/dashgo_ws/src

$ git clone https://github.com/ncnynl/LMS1xx.git

6、下载建图依赖包

$ git clone https://github.com/ros-perception/slam_gmapping.git
$ git clone https://github.com/ros-perception/openslam_gmapping.git

$ git clone -b indigo-devel https://github.com/ros-planning/navigation.git

7、复制gmapping_demo.launch文件来生成gmapping_lms100.launch文件

cp dashgo/dashgo_nav/launch/gmapping_demo.launch dashgo/dashgo_nav/launch/gmapping_lms100.launch

8、使用下面命令

$ gedit dashgo/dashgo_nav/launch/gmapping_lms100.launch

修改gmapping_lms100.launch文件内容如下

9、然后编译

$ cd ~/dashgo_ws/

$rosdep install --from-paths src --ignore-src -r -y

$ catkin_make

10、echo "source ~/dashgo_ws/devel/setup.bash" >> ~/.bashrc

11、创建串口

$ cd ~/dashgo_ws/src/dashgo/dashgo_bringup/startup

$sudo sh create_dashgo_udev.sh

12、使用下面命令来建图

建图指令：roslaunch dashgo_nav gmapping_lms100.launch
键盘控制：rosrun teleop_twist_keyboard teleop_twist_keyboard.py
开启rviz观察：roslaunch turtlebot_rviz_launchers view_navigation.launch

地图保存： roscd dashgo_nav/maps

mkdir ~/map

rosrun map_server map_saver -f ~/map/my_map

ubuntu 14.04+indigo环境下dashgo d1+lms100运行环境搭建建图

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