Welcome to T-mini Plus LiDAR repository

2. Handheld lidar mapping

This function needs to start the program in the slam_gmapping function package. The source code is located in the [yahboomcar_ws] source code. Here we use the supporting virtual machine to explain how to start the program. If you want to put it on your own motherboard, put yahboomcar_ws in the root directory and compile it.

2.1. Start lidar

Terminal input, (you need to enter the same docker, see the previous section for the method)

ros2 launch ydlidar_ros2_driver ydlidar_launch.py

2.2. Release static odom conversion

Terminal input,

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ros2 launch rf2o_laser_odometry rf2o_laser_odometry.launch.py

2.3. Start gmapping mapping

Terminal input,

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ros2 launch slam_gmapping slam_gmapping.launch.py

rviz displays as follows,

2.4. View TF tree

Terminal input,

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ros2 run tf2_tools view_frames

A frames.pdf file will be generated in the directory where the command terminal is started. This is the generated TF tree.