ROS笔记-06 使用激光雷达建图.txt

1. 安装框架 hector_slam_example [https://github.com/DaikiMaekawa/hector_slam_example]
		参考网址： http://m.blog.csdn.net/article/details?id=49026955
					或 http://www.cnblogs.com/zxouxuewei/p/5307736.html ----- 二.利用深度相机仿激光数据创建地图

		1.1 git clone
		1.2 添加 clone 路径到 $ROS_PACKAGE_PATH
			ROS_PACKAGE_PATH=/home/durant35/Workspace/ROS/hector_slam/hector_slam_example:$ROS_PACKAGE_PATH
		1.3 安装
			rosdep install hector_slam_example
2. 运行
		2.1 确保 $ROS_PACKAGE_PATH 找到 hector_slam_example
			ROS_PACKAGE_PATH=/home/durant35/Workspace/ROS/hector_slam/hector_slam_example:$ROS_PACKAGE_PATH
		2.2 修改 clone 路径下的 launch 文件，这里修改 hector_hokuyo.launch，换成我们自定义的驱动 urg_node
			 	<!-- Modified by Durant35, use another driver urg_node instead of hokuyo_node 
				<node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node"/>
				-->
				
				<node pkg="urg_node" type="urg_node" name="urg_node">
					<!-- Set the port to connect to here ethernet -->
					<param name="ip_address" type="string" value="192.168.0.10"/>
				</node>
			注：param节点用于传参数，可有可无，因为默认就是	192.168.0.10
					具体参数及参数类型，请查看驱动wiki说明
				
		2.3 启动，运行，进入实验建图
			roslaunch hector_slam_example hector_hokuyo.launch
		
		2.4 如何解决没办法显示轨迹的问题
			<!-- Modified by Durant35, for generating trajectory, follow 
				https://github.com/tu-darmstadt-ros-pkg/hector_slam/blob/catkin/hector_slam_launch/launch/tutorial.launch
			
			<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
			-->
			<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
				<arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
				<arg name="map_file_path" value="$(arg geotiff_map_file_path)"/>
			</include>


备注信息：
	ROS探索总结（十三）——导航与定位框架
		http://www.guyuehome.com/267
	ROS探索总结（十四）——move_base（路径规划）
		http://www.guyuehome.com/270
	ROS探索总结（十五）——amcl（导航与定位）
		http://www.guyuehome.com/273
	Setup and Configuration of the Navigation Stack on a Robot
		http://wiki.ros.org/navigation/Tutorials/RobotSetup
			Publishing LaserScans over ROS(含具体ROS代码)
				http://wiki.ros.org/navigation/Tutorials/RobotSetup/Sensors

	ROS实战(1)之架构设计
		http://3.1415926.science/ros/2016/01/02/ROS%E5%AE%9E%E6%88%98(1)%E4%B9%8B%E6%9E%B6%E6%9E%84%E8%AE%BE%E8%AE%A1/

		gmapping库需要两个输入，其一为激光雷达数据/scan，其二为全局的tf转换关系；且gmapping需求的tf中需要一个里程计数据以构建坐标系