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justinnuwin / NGCP-Capstone-UGV

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RPLiDAR + Rtabmap #8

Closed justinnuwin closed 4 years ago

justinnuwin commented 4 years ago

Either find a ROS node to do this or write one.

gencurio commented 4 years ago

Here is a video on setting up an older RPLidar for Hector SLAM with ROS: https://www.youtube.com/watch?v=Qrtz0a7HaQ4

justinnuwin commented 4 years ago

Bugv_rtab is subscribed to /rplidar/scan which publishes the laser scan data. It seems it is working, (transparently) since the frames have been aligned. THere is no indication that it is working (rviz not displaying the laser scan points). Needs some additional testing.

justinnuwin commented 4 years ago

Once frames are aligned. occupancy grid works as expected.