http://blog.csdn.net/hongliang2009/article/details/73302986
双目视觉/激光是机器人导航的关键部位,手头激光是hokuyou据说上万大洋,不过查看urg_node好像没有kinetic的版本。根据前人大神经验,实践记录如下。-2017.06.15 乐
安装urg_node
cd ~/catkin_ws/src/
mkdir hokuyo
cd hokuyo
git clone https://github.com/ros-drivers/driver_common.git
cd ~/catkin_ws/src/hokuyo/driver_common/driver_base/
mkdir build
cd build
cmake ..
make
sudo make install
cd ~/catkin_ws/src/hokuyo/driver_common/driver_common/
mkdir build
cd build
cmake ..
make
sudo make install
cd ~/catkin_ws/src/hokuyo/driver_common/timestamp_tools/
mkdir build
cd build
cmake ..
make
sudo make install
/catkin_ws/src/hokuyo
git clone https://github.com/ros-perception/laser_proc.git
git clone https://github.com/ros-drivers/urg_c.git
//git clone https://github.com/ros-drivers/hokuyo_node.git
//cd ~/catkin_ws/src/hokuyo/laser_proc
//mkdir build
//cd build
//cmake ..
//make
//sudo make install
catkin_make -DCATKIN_WHITELIST_PACKAGES= "urg_node"
cd ~/catkin_ws/src/hokuyo
git clone https://github.com/ros-drivers/urg_node
cd urg_node
mkdir build
cd build
rosdep install --from-paths ~/catkin_ws/src --ignore-src
catkin_make -DCATKIN_WHITELIST_PACKAGES= "urg_node"
cd ~/catkin_ws
catkin_make install
2、启动roscore roscore
3、启动激光(激光IP192.168.0.10) rosrun urg_node urg_node _ip_address:=192.168.0.10
4、查看距离 ` rostopic list
rostopic echo /scan
5、rviz查看 rosrun rviz rviz
add添加laser topic ,如果提示fix frame无坐标错误,将启动的坐标位置fixed frame 的map手动改为laser。
打完收工!