Welcome to RDK X5 Board repository

Handheld LiDAR mapping

This feature requires launching the program inside the slam_gmapping package, which is located in the yahboomcar_ws source package. The following instructions use the bundled virtual machine as an example. If you intend to run this on your own board, place yahboomcar_ws in the home directory and build it there.

1. Launch the LiDAR

Open a terminal and run:

ros2 launch ydlidar_ros2_driver ydlidar_launch.py

2. Publish Static Odom Transform

Open a terminal and run:

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ros2 launch rf2o_laser_odometry rf2o_laser_odometry.launch.py

3. Start GMMapping

Open a terminal and run:

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ros2 launch slam_gmapping slam_gmapping.launch.py

The RViz display should appear as shown in the screenshot.

If no map is displayed, open the RViz map configuration manually by clicking: File → Open Config → sunrise → yahboomcar_ws → src → slam_gmapping → rviz → map_view.rviz

4. View the TF Tree

Open a terminal and run:

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ros2 run tf2_tools view_frames

This will generate a frames.pdf file in the directory where the command was executed. That file contains the generated TF tree.