RoboLidar

Using Hector SLAM without odometry data on a ROS system with the RPLidar A1.

1. Clone this repository
2. Clean all build files(lidar_ws/build, lidar_ws/devel, lidar_ws/src/CMakeLists.txt). Then run catkin_make
3. Run source /devel/setup.bash
4. Run chmod 666 /dev/ttyUSB0 or the serial path to your lidar
5. Run roslaunch rplidar_ros rplidar.launch
6. Run roslaunch hector_slam_launch tutorial.launch
7. RVIZ should open up with SLAM data
8. If you want to save the map, run rostopic pub syscommand std_msgs/String "savegeotiff".
9. By default, geotiff maps are saved to the 'hector_slam/hector_geotiff/maps' folder. You should find both a .tif file containing the image data and a .tfw file containing the georeference information there. The creation time is appended to the map base name for both files.

Sources

RPLidar Hector SLAM
RPLidar
Hector_SLAM
Fixing launch files (only needed if you are using the original hector slam repository)

• In catkin_ws/src/rplidar_hector_slam/hector_slam/hector_mapping/launch/mapping_default.launch
  replace the second last line with
  <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />
  the third line with
  <arg name="base_frame" default="base_link"/>
  the fourth line with
  <arg name="odom_frame" default="base_link"/>
• In catkin_ws/src/rplidar_hector_slam/hector_slam/hector_slam_launch/launch/tutorial.launch
  replace the third line with
  <param name="/use_sim_time" value="false"/>