hatcherrobotics/hector-slam

This repo contains 2D lidar slam solution,hector_slam.

use lidar(hokuyo UTM-30LX) and PC to SLAM

1.hardware

I use ubuntu18.04,ROS melodic.
hokuyo UTM-30LX needs to connect with a 12v batteand a switch.
connect lidar and PC through USB2.0

2.download

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
git clone https://github.com/ros-drivers/urg_node.git
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git

3.catkin_make

cd ..
catkin_make
vim ~/.bashrc
source /home/hatcher/catkin_ws/devel/setup.bash 

"hatcher"should be replaced by your own username,check te attribute of the folder to find your username.Add this code to the bottom of ~/.bashrc

4.launch

cd src/urg_node/launch
roslaunch urg_lidar.launch
cd ..
cd ..
mkdir launch
cd launch
vim tutorial.launch

add the following code block to the file you vim

   <launch>

   <include file="$(find hector_mapping)/launch/mapping_default.launch">
    <arg name="base_frame" value="base_frame"/>
    <arg name="odom_frame" value="base_frame"/>
   </include>

   <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
     <arg name="trajectory_source_frame_name" value="base_frame"/>
   </include>

   <node pkg="tf" type="static_transform_publisher"       name="base_frame_to_laser_broadcaster" args="0 0 0 0 0 0 base_frame laser 100"/>

   <node pkg="rviz" type="rviz" name="rviz"
     args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>

   </launch>

save the file and exit

` roslaunch tutorial.launch`

with all those steps done,you could see a map on rviz,walk around in your room with lidar and PC,you could build a map of your room.