软硬件条件

软件：Ubuntu 20.04，ROS noetic
硬件：RPLidar A1.

laser_scan_matcher通过源码安装

mkdir -p ~/catkin_ws/src
cd  ~/catkin_ws/src
git clone https://github.com/ccny-ros-pkg/scan_tools.git
cd ..
catkin_make 

PS：遇到报错“No package ''csm” found,使用sudo apt-get install ros-noetic-csm

rplidar_ros通过源码安装

mkdir -p ~/catkin_ws/src
cd  ~/catkin_ws/src
git clone https://github.com/Slamtec/rplidar_ros.git
cd ..
catkin_make 
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

设置参数

在./rplidar_ros/launch文件夹中设置a1_gmapping.launch

<!-- 
Example launch file: uses laser_scan_matcher together with
slam_gmapping 
-->

<launch>
  <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />


  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "odom"/>
    <param name="max_iterations" value="10"/>

  </node>


  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="map_udpate_interval" value="1.0"/>
    <param name="maxUrange" value="12.0"/>
    <param name="sigma" value="0.1"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.15"/>
    <param name="astep" value="0.15"/>
    <param name="iterations" value="1"/>
    <param name="lsigma" value="0.1"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="1"/>
    <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="1.0"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="0.4"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="10"/>
    <param name="xmin" value="-10.0"/>
    <param name="ymin" value="-10.0"/>
    <param name="xmax" value="10.0"/>
    <param name="ymax" value="10.0"/>
    <param name="delta" value="0.02"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.05"/>
    <param name="lasamplerange" value="0.05"/>
    <param name="lasamplestep" value="0.05"/>
  </node>

</launch>

启动

检查端口权限

 ls -l /dev |grep ttyUSB

设置端口权限

sudo chmod 666 /dev/ttyUSB0

启动a1_gmapping.launch

roslaunch rplidar_ros a1_gmapping.launch

效果预览