robopeak · buvur · Jun 7, 2014 · Jun 2, 2014 · Jun 2, 2014 · Jun 6, 2014
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -0,0 +1,42 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package rplidar_ros
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+1.5.7 (2016-12-15)
+------------------
+* Release 1.5.7.
+* Update RPLIDAR SDK to 1.5.7
+* Fixed the motor default speed at 10 HZ. Extend the measurement of max_distance from 6m to 8m.
+* Contributors: kint
+
+1.5.5 (2016-08-23)
+------------------
+* Release 1.5.5.
+* Update RPLIDAR SDK to 1.5.5
+* Add RPLIDAR information print, and fix the standard motor speed of RPLIDAR A2.
+* Contributors: kint
+
+1.5.4 (2016-06-02)
+------------------
+* Release 1.5.4.
+* Update RPLIDAR SDK to 1.5.4
+* Support RPLIDAR A2
+* Contributors: kint
+
+1.5.2 (2016-04-29)
+------------------
+* Release 1.5.2.
+* Update RPLIDAR SDK to 1.5.2
+* Support RPLIDAR A2
+* Contributors: kint
+
+1.0.1 (2014-06-03)
+------------------
+* Release 1.0.1.
+* Add angle compensate mechanism to compatible with ROS scan message
+* Add RPLIDAR sdk to the repo.
+* First release of RPLIDAR ROS package (1.0.0)
+* Initial commit
+* Contributors: Ling, RoboPeak Public Repos
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
 include_directories(
   ${RPLIDAR_SDK_PATH}/include
   ${RPLIDAR_SDK_PATH}/src
+  ${catkin_INCLUDE_DIRS}
 )
 
 catkin_package()
@@ -27,3 +28,14 @@ target_link_libraries(rplidarNode ${catkin_LIBRARIES})
 
 add_executable(rplidarNodeClient src/client.cpp)
 target_link_libraries(rplidarNodeClient ${catkin_LIBRARIES})
+
+install(TARGETS rplidarNode rplidarNodeClient
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch rviz sdk
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
diff --git a/LICENSE b/LICENSE
@@ -1,4 +1,5 @@
-Copyright (c) 2014, RoboPeak Public Repos
+Copyright (c) 2009 - 2014 RoboPeak Team
+Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -20,4 +21,4 @@ DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/README.md b/README.md
@@ -3,7 +3,13 @@ RPLIDAR ROS package
 
 ROS node and test application for RPLIDAR
 
-Visit RoboPeak Website for more details about RPLIDAR.
+Visit following Website for more details about RPLIDAR:
+
+rplidar roswiki: http://wiki.ros.org/rplidar
+
+rplidar HomePage:   http://www.slamtec.com/en/Lidar
+
+rplidar Tutorial:  https://github.com/robopeak/rplidar_ros/wiki
 
 How to build rplidar ros package
 =====================================================================
@@ -27,3 +33,8 @@ roslaunch rplidar_ros rplidar.launch
 rosrun rplidar_ros rplidarNodeClient
 
 You should see rplidar's scan result in the console
+
+RPLidar frame
+=====================================================================
+RPLidar frame must be broadcasted according to picture shown in
+rplidar-frame.png
diff --git a/launch/gmapping.launch b/launch/gmapping.launch
@@ -0,0 +1,50 @@
+<!--
+  notice : you should install gmapping-slam at first, command 'sudo apt-get install ros-indigo-gmapping'and 'sudo apt-get install ros-indigo-slam-gmapping'.
+           this launch just for test, you should improve the param for the best result.
+
+  you nedd change the frame of the "static_transform_publisher" when using the real robot platform.
+  it is better  subscribe the topic /odom with true to slam in gmapping
+
+E-mail: [email protected]
+ -->
+<launch>
+
+  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 base_link laser 100" /> <!--change -->
+  <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 odom base_link 100" /> <!--change -->
+
+  <node pkg="gmapping" type="slam_gmapping" name="simple_gmapping" output="screen">
+      <!--remap from="scan" to="base_scan"/-->
+      <param name="map_update_interval" value="5.0"/>
+      <param name="maxUrange" value="8.0"/>
+      <param name="sigma" value="0.05"/>
+      <param name="kernelSize" value="1"/>
+      <param name="lstep" value="0.05"/>
+      <param name="astep" value="0.05"/>
+      <param name="iterations" value="5"/>
+      <param name="lsigma" value="0.075"/>
+      <param name="ogain" value="3.0"/>
+      <param name="lskip" value="0"/>
+      <param name="minimumScore" value="50"/>
+      <param name="srr" value="0.1"/>
+      <param name="srt" value="0.2"/>
+      <param name="str" value="0.1"/>
+      <param name="stt" value="0.2"/>
+      <param name="linearUpdate" value="0.3"/>
+      <param name="angularUpdate" value="0.4"/>
+      <param name="temporalUpdate" value="3.0"/>
+      <param name="resampleThreshold" value="0.5"/>
+      <param name="particles" value="30"/>
+      <param name="xmin" value="-5.0"/>
+      <param name="ymin" value="-5.0"/>
+      <param name="xmax" value="5.0"/>
+      <param name="ymax" value="5.0"/>
+      <param name="delta" value="0.05"/>
+      <param name="llsamplerange" value="0.01"/>
+      <param name="llsamplestep" value="0.01"/>
+      <param name="lasamplerange" value="0.005"/>
+      <param name="lasamplestep" value="0.005"/>
+  </node>
+
+
+
+</launch>
diff --git a/launch/hectormapping.launch b/launch/hectormapping.launch
@@ -0,0 +1,39 @@
+<!--
+notice : you should install hector-slam at first,  sudo apt-get install ros-indigo-hector-slam
+           this launch just for test, you should improve the param for the best result.
+
+E-mail: [email protected]
+ -->
+<launch>
+
+  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 base_link laser 100" /> <!--change -->
+
+
+    <node pkg="hector_mapping" type="hector_mapping" name="hector_height_mapping" output="screen">
+      <param name="scan_topic" value="scan" />
+    <param name="base_frame" value="base_link" />
+    <param name="odom_frame" value="base_link" />
+
+    <param name="output_timing" value="false"/>
+    <param name="advertise_map_service" value="true"/>
+    <param name="use_tf_scan_transformation" value="true"/>
+    <param name="use_tf_pose_start_estimate" value="false"/>
+    <param name="pub_map_odom_transform" value="true"/>
+    <param name="map_with_known_poses" value="false"/>
+
+    <param name="map_pub_period" value="0.5"/>
+    <param name="update_factor_free" value="0.45"/>
+
+    <param name="map_update_distance_thresh" value="0.02"/>
+    <param name="map_update_angle_thresh" value="0.1"/>
+
+    <param name="map_resolution" value="0.05"/>
+    <param name="map_size" value="1024"/>
+    <param name="map_start_x" value="0.5"/>
+    <param name="map_start_y" value="0.5"/>
+
+  </node>
+
+
+
+</launch>
diff --git a/launch/karto.launch b/launch/karto.launch
@@ -0,0 +1,23 @@
+<!--
+  notice : you should install karto-slam at first, command 'sudo apt-get install ros-indigo-open-karto'and 'sudo apt-get install ros-indigo-slam-karto'.
+           this launch just for test, you should improve the param for the best result.
+
+  you nedd change the frame of the "static_transform_publisher" when using the real robot platform.
+  it is better  subscribe the topic /odom with true to slam in gmapping
+
+E-mail: [email protected]
+ -->
+<launch>
+
+  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 base_link laser 100" /> <!--change -->
+  <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 odom base_link 100" /> <!--change -->
+
+  <node pkg="slam_karto" type="slam_karto" name="slam_karto" output="screen">
+    <remap from="scan" to="scan"/>
+    <param name="odom_frame" value="odom"/>
+    <param name="map_update_interval" value="25"/>
+    <param name="resolution" value="0.025"/>
+    <rosparam command="load" file="$(find rplidar_ros)/launch/karto_mapper_params.yaml" />
+  </node>
+
+</launch>
diff --git a/launch/karto_mapper_params.yaml b/launch/karto_mapper_params.yaml
@@ -0,0 +1,37 @@
+# General Parameters
+use_scan_matching: true
+use_scan_barycenter: true
+minimum_travel_distance: 0.3 
+minimum_travel_heading: 0.4  # 0.2         #in radians
+
+scan_buffer_size: 67                       
+scan_buffer_maximum_scan_distance: 20.0
+link_match_minimum_response_fine: 0.6
+link_scan_maximum_distance: 4         #  6
+
+do_loop_closing: true
+loop_match_minimum_chain_size: 5
+loop_match_maximum_variance_coarse: 0.4    # gets squared later
+loop_match_minimum_response_coarse: 0.4        # 0.6
+loop_match_minimum_response_fine: 0.6
+
+# Correlation Parameters -              Correlation Parameters
+correlation_search_space_dimension: 2
+correlation_search_space_resolution: 0.05
+correlation_search_space_smear_deviation: 0.05
+
+# Correlation Parameters - Loop Closure Parameters
+loop_search_space_dimension: 10  # 2.8
+loop_search_space_resolution: 0.1
+loop_search_space_smear_deviation: 0.05
+loop_search_maximum_distance: 4.0
+
+# Scan Matcher Parameters
+distance_variance_penalty: 0.3             # gets squared later
+angle_variance_penalty: 0.35                # in degrees (gets converted to radians then squared)
+fine_search_angle_offset: 0.00349               # in degrees (gets converted to radians)
+coarse_search_angle_offset: 0.349            # in degrees (gets converted to radians)
+coarse_angle_resolution: 0.0349                # in degrees (gets converted to radians)
+minimum_angle_penalty: 0.9
+minimum_distance_penalty: 0.5
+use_response_expansion: false
diff --git a/launch/test_rplidar.launch b/launch/test_rplidar.launch
@@ -0,0 +1,12 @@
+<launch>
+  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
+  <param name="serial_baudrate"     type="int"    value="115200"/>
+  <param name="frame_id"            type="string" value="laser"/>
+  <param name="inverted"            type="bool"   value="false"/>
+  <param name="angle_compensate"    type="bool"   value="true"/>
+
+ </node>
+  <node name="rplidarNodeClient"          pkg="rplidar_ros"  type="rplidarNodeClient" output="screen">
+  </node>
+</launch>
diff --git a/launch/view_gmapping.launch b/launch/view_gmapping.launch
@@ -0,0 +1,10 @@
+<!--
+  Used for visualising rplidar in action.
+
+  It requires rplidar.launch.
+ -->
+<launch>
+  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
+  <include file="$(find rplidar_ros)/launch/gmapping.launch" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/slam.rviz" />
+</launch>
diff --git a/launch/view_hectorSlam.launch b/launch/view_hectorSlam.launch
@@ -0,0 +1,10 @@
+<!--
+  Used for visualising rplidar in action.
+
+  It requires rplidar.launch.
+ -->
+<launch>
+  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
+  <include file="$(find rplidar_ros)/launch/hectormapping.launch" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/slam.rviz" />
+</launch>
diff --git a/launch/view_karto.launch b/launch/view_karto.launch
@@ -0,0 +1,10 @@
+<!--
+  Used for visualising rplidar in action.
+
+  It requires rplidar.launch.
+ -->
+<launch>
+  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
+  <include file="$(find rplidar_ros)/launch/karto.launch" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/slam.rviz" />
+</launch>
diff --git a/launch/view_slam.launch b/launch/view_slam.launch
@@ -0,0 +1,10 @@
+<!--
+  Used for visualising rplidar in action.
+
+  It requires rplidar.launch.
+ -->
+<launch>
+  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
+  <include file="$(find rplidar_ros)/launch/hectormapping.launch" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/slam.rviz" />
+</launch>
diff --git a/package.xml b/package.xml
@@ -1,18 +1,20 @@
 <?xml version="1.0"?>
 <package>
   <name>rplidar_ros</name>
-  <version>1.0.0</version>
-  <description>The rplidar ros package</description>
-
-  <maintainer email="[email protected]">Ling</maintainer>
+  <version>1.5.7</version>
+  <description>The rplidar ros package, support rplidar A2/A1 </description>
 
+  <maintainer email="[email protected]">Slamtec ROS Maintainer</maintainer>
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>rosconsole</build_depend>
   <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>rosconsole</run_depend>
   <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+
 </package>
diff --git a/rplidar_A1.png b/rplidar_A1.png
diff --git a/rplidar_A2.png b/rplidar_A2.png