Welcome to EAI X3 Pro LiDAR repository

2.Handheld Lidar Mapping

This function requires starting the program in the slam_gmapping function package. The source code is located in the [yahboomcar_ws] folder.

Here we use the matching virtual machine to explain how to start the program. If you want to put it on your own RDK motherboard, put yahboomcar_ws in the root directory and compile it.

2.1 Start lidar

Input following command in the terminal.

ros2 launch ydlidar_ros2_driver ydlidar_launch.py

2.2 Release static odom conversion

Input following command in the terminal.

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ros2 launch rf2o_laser_odometry rf2o_laser_odometry.launch.py

2.3 Start gmapping mapping

Input following command in the terminal.

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ros2 launch slam_gmapping slam_gmapping.launch.py

rviz displays as follows.

If there is no map display, click file --> Open config --> sunrise --> yahboomcar_ws --> src --> slam_gmapping --> rviz --> map_view.rviz in the upper left corner to open the rviz map display configuration.

2.4 View TF tree

Input following command in the terminal.

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ros2 run tf2_tools view_frames

The system will generate a frames.pdf file in the directory where the command terminal is started. This is the generated TF tree.