P+F--r2000激光雷达slam技术实现

1.下载驱动；

http://wiki.ros.org/pepperl_fuchs_r2000

git clone https://github.com/dillenberger/pepperl_fuchs

 新建一个ros_pk

mkdir -p pf_laser/src
cd pf_laser
catkin_make

将pepperl_fuchs_r2000拷贝进pf_laser/src

再次编译：catkin_make;

cd pf_laser

测试程序是否无误：

source ./devel/setup.bash
rosrun pepperl_fuchs_r2000 r2000_node

2.修改pepperl_fuchs-master/pepperl_fuchs_r2000/launch/r2000.launch将文件内部的

 
 
 

修改对应的IP以及频率和每圈采样点数；

source ./devel/setup.bash
roslaunch pepperl_fuchs_r2000 r2000.launch

3.并在pepperl_fuchs-master/pepperl_fuchs_r2000/launch/r2000.launch加入：

因为初始的r2000激光雷达话题为/r2000_node/scan；gampping构建地图使用/scan话题；