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 | 1 | initial version |
I was able to update my Turtlebot 2 (with Create 2 Base) to a 360 degree YDLidar to use for navigation.
I made a copy of the minimal.launch file in turtlebot launch folder, and renamed it. I added this to it:
<node name="ydlidar_node" pkg="ydlidar" type="ydlidar_node" output="screen">
<param name="port" type="string" value="/dev/ydlidar"/>
<param name="baudrate" type="int" value="115200"/>
<param name="frame_id" type="string" value="laser_frame"/>
<param name="angle_fixed" type="bool" value="true"/>
<param name="low_exposure" type="bool" value="false"/>
<param name="heartbeat" type="bool" value="false"/>
<param name="resolution_fixed" type="bool" value="true"/>
<param name="angle_min" type="double" value="-180" />
<param name="angle_max" type="double" value="180" />
<param name="range_min" type="double" value="0.08" />
<param name="range_max" type="double" value="16.0" />
<param name="ignore_array" type="string" value="" />
<param name="samp_rate" type="int" value="9"/>
<param name="frequency" type="double" value="7"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.0 0.0 0.2 0.0 0.0 0.0 /base_footprint /laser_frame 40" />
I also added the ros-compatible ydlidar library to the src folder.
After a few tries I got it to work and could then map a room very quickly with 360 degree view instead of the limited range of the kinect.
If I recall, I used links like these to help me: https://answers.ros.org/question/173122/how-to-crate-a-map-with-gmapping-and-hokuyo-laser/ http://wiki.ros.org/turtlebot/Tutorials/indigo/Adding%20a%20lidar%20to%20the%20turtlebot%20using%20hector_models%20%28Hokuyo%20UTM-30LX%29
| | 2 | No.2 Revision |
I was able to update my Turtlebot 2 (with Create 2 Base) to a 360 degree YDLidar to use for navigation.
I made a copy of the minimal.launch file in turtlebot launch folder, and renamed it. I added this to it:
<node name="ydlidar_node" pkg="ydlidar" type="ydlidar_node" output="screen">
<param name="port" type="string" value="/dev/ydlidar"/>
<param name="baudrate" type="int" value="115200"/>
<param name="frame_id" type="string" value="laser_frame"/>
<param name="angle_fixed" type="bool" value="true"/>
<param name="low_exposure" type="bool" value="false"/>
<param name="heartbeat" type="bool" value="false"/>
<param name="resolution_fixed" type="bool" value="true"/>
<param name="angle_min" type="double" value="-180" />
<param name="angle_max" type="double" value="180" />
<param name="range_min" type="double" value="0.08" />
<param name="range_max" type="double" value="16.0" />
<param name="ignore_array" type="string" value="" />
<param name="samp_rate" type="int" value="9"/>
<param name="frequency" type="double" value="7"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.0 0.0 0.2 0.0 0.0 0.0 /base_footprint /laser_frame 40" />
I also added the ros-compatible ydlidar library to the src folder.
After a few tries I got it to work and could then map a room very quickly with 360 degree view instead of the limited range of the kinect.
If I recall, I used links like these to help me:
https://answers.ros.org/question/173122/how-to-crate-a-map-with-gmapping-and-hokuyo-laser/
me:
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