首先,在pi上安裝rospack
sudo apt install ros-melodic-rplidar-ros
然後,主要參照第二章:
https://www.cnblogs.com/BlueMountain-HaggenDazs/p/6523330.html
其中第二章 第4節運作
sudo udevadm trigger
而不是
sudo service udev reload
sudo service udev restart
用類似方法把arduino的别名也設定了,記得改arduino的加載名稱,在這裡:
sudo nano ~/catkin_ws/src/ros_arduino_bridge/ros_arduino_python/config/my_arduino_params.yaml
達到效果為,用以下指令檢視
ls -l /dev |grep ttyUSB
然後,在pi上:
roscd rplidar_ros
sudo nano launch/rplidar.launch
修改
<param name="serial_port" type="string" value="/dev/rplidar"/>
由于雷射雷達node在pi,而其他node在桌面電腦,是以在桌面電腦也安裝rplidar_ros,在桌面電腦:
sudo apt install ros-melodic-rplidar-ros
roscd rplidar_ros
sudo nano launch/view_rplidar.launch
删除
<include file="$(find rplidar_ros)/launch/rplidar.launch" />
在pi:
roslaunch rplidar_ros rplidar.launch
在桌面電腦:
roslaunch rplidar_ros view_rplidar.launch
即可在rviz中檢視雷達圖,比僞雷射快,品質高,cpu占用少,還是那句話,能燒硬體就别折騰軟體,能用花錢的就别用免費的,哎。
參考:https://www.cnblogs.com/BlueMountain-HaggenDazs/p/6523330.html
https://unix.stackexchange.com/questions/66901/how-to-bind-usb-device-under-a-static-name/66916#66916
http://wiki.ros.org/rplidar