Open hyng809 opened 1 year ago
sudo apt update && sudo apt install ros-foxy-slam-toolbox
ros2 launch ydlidar_ros2_driver ydlidar_launch_view.py
(This also launches the tf tree required for slam, but you have to change "base_link" in this line to "base_footprint" and rebuild the package)ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint
Do this only if you don't have an odometry output from like wheel encoders...ros2 launch slam_toolbox online_sync_launch.py
This is just an example, there are other options, you can view them by double pressing the tab key. After that, you should see "Registering Sensor..."Hello @anasderkaoui. Thank for sharing! I have followed your instructions and I have a problem. My map cannot update or expand when I rotate and move the Lidar. Please help me fix this problem!
Hello @ndp-seee-hust, make sure that you have the odometry node running. This was, in my case, one of the main reasons the map did not update. And also, move the lidar very slowly and don't rotate it suddenly because that will overlap the maps that will be created. I advise you to take a look at my repo for more detailed information.
Hello This is the first time using YDLidar. I have verified that Lidar works through Rviz on Ubuntu. I want to create maps and use navigation using Lidar, which I am currently using. I would like to know more detailed process and tutorial about this. This is the development environment I am currently developing.