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RPLidar Hector SLAM

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

  1. Install ROS full desktop version (tested on Kinetic) from: http://wiki.ros.org/kinetic/Installation/Ubuntu
  2. Create a catkin workspace: http://wiki.ros.org/ROS/Tutorials/CreatingPackage
  3. Clone this repository into your catkin workspace
  4. In your catkin workspace run source /devel/setup.bash
  5. Run chmod 666 /dev/ttyUSB0 or the serial path to your lidar
  6. Run roslaunch rplidar_ros rplidar.launch
  7. Run roslaunch hector_slam_launch tutorial.launch
  8. RVIZ should open up with SLAM data

Sources

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"/>