avoss19 / LIDAR

LIDAR SLAM

Setup for BSM's robot with a LIDAR sensor utilizing hector_slam & urg_node

Run

$ bash ~/LIDAR/run.bash

or

$ cd ~/LIDAR
$ python httpHost.py
$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch bsm_slam hector_hokuyo.launch
$ cd ~/LIDAR
$ bash hostLidar.bash

Easy Install

Install ROS Kinetic:

• Raspberry Pi Ubuntu ROS Image

Install:

$ wget https://raw.githubusercontent.com/avoss19/LIDAR/master/setup.bash
$ sudo bash setup.bash

Normal Install

Install ROS Kinetic:

• Raspberry Pi Ubuntu ROS Image

Install Packages:

$ sudo apt-get install ros-kinetic-hector-*
$ sudo apt-get install ros-kinetic-urg-*

Create catkin_ws (Skip if using Pi ROS Image Above):

$ source /opt/ros/melodic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

Install bsm_slam:

$ cd ~/catkin_ws/src
$ git clone https://github.com/avoss19/bsm_slam.git
$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro kinetic
$ catkin_make

Download Scripts:

$ cd ~
$ git clone https://github.com/avoss19/LIDAR.git