ROS下驱动双雷达

ROS下驱动SLAMETC的A2和A3雷达步骤如下：

1、连上激光雷达并进入至/dev文件夹中查看ttyUSB？的编号

2、使用sudo chmod 777 ttyUSB*来更改USB端口权限、

3、调整A2和A3激光雷达的硬件波特率使其匹配

4、编写launch文件使其同时启动，launch启动文件中需要修改节点名称使其不同，同时需要修改frame_id以便于tf变换。

<!--?xml version="1.0" encode="UTF-8"?-->
<launch>
<!-- A3 -->
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/ttyUSB1"/>  
  <param name="serial_baudrate"     type="int"    value="256000"/>
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  <param name="scan_mode"           type="string" value="Sensitivity"/>
  </node>
<!-- A2 -->
  <node name="rplidarNode1"         pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
  <param name="serial_baudrate"     type="int"    value="115200"/><!--A2 -->
  <param name="frame_id"            type="string" value="laser2"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  </node>
 <node name="laser_tf"         pkg="laser_tf"  type="laser_tf" output="screen" />
 <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz" />
</launch>

5.编写tf_node节点pack来建立起两激光雷达数据间关系

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/tf.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "laser_tf_Node");
  ros::NodeHandle node;

  ros::Rate r(100);

  tf::TransformBroadcaster broadcaster;

  while(ros::ok()){
    broadcaster.sendTransform(
      tf::StampedTransform(
        tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(7, 0.0, 0.0)),ros::Time::now(),"laser", "laser2"));
    r.sleep();
    ros::spinOnce();
  }
}

注意修改Cmake.txt文件中编译文件代码，否则无法生成生成包下可执行文件

add_executable(${PROJECT_NAME} src/laser_tf_node.cpp)
 target_link_libraries(laser_tf
     ${catkin_LIBRARIES}
)

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