yahboom
HomeLearn
Solution
Blog
Online Store
About Us
EN/中文
T-mini Plus LiDAR📖
01.Linux basic course
  • 1.Introduction to Linux system
  • 2.Ubuntu file system
  • 3.Ubuntu common commands
  • 4.Ubuntu common editors
  • 5.Ubuntu software operation commands
  • 6.Virtual machine installation
  • 7.SSH remote control
  • 8.VNC remote control
  • 9.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 14.Update system software sources
  • 15.Set root user password
  • 16.sudo free password
  • 17.Connect to WiFi network
  • 18.View system version
  • 19.Customized service management
  • 20.Back up system image
02.ROS1 basic course
  • 1.ROS introduction
  • 2.ROS installation
  • 3.ROS common command tools
  • 4.ROS workspace
  • 5.ROS function package
  • 6.ROS node
  • 7.ROS topic publisher
  • 8.ROS topic subscribers
  • 9.ROS service client
  • 10.ROS service server
  • 11.ROS action client
  • 12.ROS action server
  • 13.ROS custom message reception
  • 14.ROS-launch file
  • 15.ROS-TF transformation
  • 16.ROS parameter service
  • 17.ROS-rviz use
  • 18.ROS-rqt tool usage
  • 19.Topic message recording and playback
  • 20.urdf model introduction
  • 21.gazebo introduction
  • 22.ROS distributed communication
03.ROS1 lidar course
  • 0.Instructions before use
  • 1.Preparation
  • 2.Handheld lidar mapping
  • 3.Lidar avoiding
  • 4.Lidar guard
  • 5.Lidar follow
  • 6.Lidar mapping
  • 7.rrt_exploration mapping algorithm
  • 8.Navigation
  • 9.APP Mapping and Navigation
  • 10.RTAB 3D mapping and navigation
04.ROS2 basic course
  • 1. Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
05.ROS2 lidar course
  • 0.ReadMe
  • 1.Preparation
  • 2.Handheld lidar mapping
  • 3.Lidar avoiding
  • 4.Lidar follow
  • 5.Lidar guard
  • 6.Lidar patrol
  • 7.gmapping mapping
  • 8.cartographer mapping
  • 9.Navigation and avoiding
  • 10.APP Mapping and Navigation
  • 11.RTAB 3D mapping and navigation
06.Raspberry Pi5 course
2.ROS1 lidar course
  • 0.Instructions before use
  • 1.Preparation
  • 2.Handheld lidar mapping
  • 3.Lidar avoiding
  • 4.Lidar guard
  • 5.Lidar follow
  • 6.Lidar mapping
  • 7.rrt_exploration mapping algorithm
  • 8.Navigation
  • 9.APP Mapping and Navigation
  • 10.RTAB 3D mapping and navigation
3.ROS2 lidar course
  • 0.ReadMe
  • 1.Preparation
  • 2.Handheld lidar mapping
  • 3.Lidar avoiding
  • 4.Lidar follow
  • 5.Lidar guard
  • 6.Lidar patrol
  • 7.gmapping mapping
  • 8.cartographer mapping
  • 9.Navigation and avoiding
  • 10.APP Mapping and Navigation
  • 11.RTAB 3D mapping and navigation
1.Docker course
  • 1. Overview and installation
  • 2. Common commands
  • 3. Docker images deeply understand and publish images
  • 4. Docker hardware interaction and data processing
  • 5. Enter the robot's docker container
Download
  • Code
  • VM_File
  • RPi5_SystemFile
  • Data Sheet
  • 3D_Model_File
  • PC_Software
  • ROS2_Basic_VM
Download ZIP

Welcome to T-mini Plus LiDAR repository

2.Handheld lidar mapping

2. Handheld lidar mapping

It is recommended to directly use the virtual machine or Raspberry Pi 5 image we provide, because it may not run due to environmental differences

1. Install dependent libraries, take the ros-melodic version as an example, enter in the terminal,

sudo apt install ros-melodic-moveit ros-melodic-moveit-visual-tools ros-melodic-kdl-* ros-melodic-joint-state-publisher-gui ros-melodic-trac-ik liborocos-kdl-dev ros-melodic -teleop-twist-keyboard ros-melodic-moveit-resources ros-melodic-navigation ros-melodic-gmapping ros-melodic-hector-slam ros-melodic-slam-karto ros-melodic-robot-state-publisher ros-melodic- geographic-msgs ros-melodic-libuvc-* ros-melodic-rtabmap-ros libavformat-dev libavcodec-dev libswresample-dev libswscale-dev libavutil-dev libsdl1.2-dev ros-melodic-pointcloud-to-laserscan ros-melodic- mbf-msgs ros-melodic-mbf-costmap-core ros-melodic-costmap-converter ros-melodic-bfl ros-melodic-serial ros-melodic-teleop-twist-joy ros-melodic-laser-proc ros-melodic-rosserial -arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-urdf ros-melodic -xacro ros-melodic-interactive-markers ros-melodic-octomap* ros-melodic-joy* ros-melodic-dwa-local-planner ros-melodic-multirobot-map-merge python-catkin-tools python3-dev python3-catkin -pkg-modules python3-numpy python3-yaml build-essential ros-melodic-imu-tools ros-melodic-cartographer*

2. Start the mapping command

First go into the docker we provide, open a terminal in the Raspberry Pi directory and enter,

xxxxxxxxxx
./run_ros1.sh

image-20240423195440851

Take gmapping mapping as an example, enter in the terminal,

xxxxxxxxxx
roslaunch oradar_lidar test_gmapping.launch

It is normal for this error to appear at the beginning of running the program, because the tf conversion was not converted at the beginning, but was converted later.

image-20240411190651441

The following screen appears, indicating successful operation.

image-20240423200552222

3. Save the map

Taking gmapping as an example, the map saving command is,

xxxxxxxxxx
rosrun map_server map_saver -f ~/yahboomcar_ws/src/oradar_ros/maps/map

image-20240423200857122

The map will be saved to the ~/ydlidar_ws/src/oradar_ros/maps/ folder, a pgm image and a yaml file.

map.yaml

​x
image: /home/yahboom/yahboomcar_ws/src/oradar_ros/maps/map.pgm
resolution: 0.050000
origin: [-10.000000, -10.000000, 0.000000]
Negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
​

Parameter analysis:

  • image: The path of the map file, which can be an absolute path or a relative path.

  • resolution: resolution of the map, meters/pixel

  • Origin: 2D pose (x, y, yaw) in the lower left corner of the map. The yaw here is rotated counterclockwise (yaw=0 means no rotation

    change). Many parts of the current system ignore the yaw value.

  • negate: whether to reverse the meaning of white/black and free/occupied (the interpretation of the threshold is not affected)

  • occupied_thresh: Pixels with an occupation probability greater than this threshold will be considered fully occupied.

  • free_thresh: Pixels with occupancy probability less than this threshold will be considered completely free.

4. View relevant information

View tf tree

xxxxxxxxxx
rosrun rqt_tf_tree rqt_tf_tree

Node communication view

xxxxxxxxxx
rosrun rqt_graph rqt_graph

5. Algorithm information reference website

5.1. Graphing algorithm

Gmapping: http://wiki.ros.org/gmapping/

hector_slam: http://wiki.ros.org/hector_slam

hector_slam/Tutorials: http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot

hector_mapping: http://wiki.ros.org/hector_mapping

karto: http://wiki.ros.org/slam_karto

Cartographer: https://google-cartographer.readthedocs.io/en/latest/

Cartographer ROS: https://google-cartographer-ros.readthedocs.io/en/latest/

5.2. Independent map navigation

rrt_exploration: http://wiki.ros.org/rrt_exploration

rrt_exploration/Tutorials: http://wiki.ros.org/rrt_exploration/Tutorials

5.3. Save the map

map_server: https://wiki.ros.org/map_server

Preparation
Lidar avoiding

COMPANY

  • About us
  • Team Style
  • Blog

LEARNING & EXPLORATION

  • Tutorials
  • Edge AI hardware
  • Educational robots
  • Embedded intelligent hardware

WHERE TO BUY

  • Yahboom Online Store
  • Amazon
  • Alibaba
  • AliExpress
  • Mercado

TECHNOLOGY SUPPORT

  • Email: support@yahboom.com

BE A DISTRIBUTOR

  • Email: sales@yahboom.com
QR Code

Copyright © 2017-2026 Yahboom. All Rights Reserved.

EN/中文