Ubuntu16.04 uses Hokuyo-UTM30-lx lidar

Environment: Ubuntu system version: 16.04
Method used: Source code installation series packages
1. Download series packages:
1. Download urg_c package
https://github.com/ros-drivers/urg_c
2. Download laser_proc package
https://github. com/ros-perception/laser_proc/tree/hydro-devel
3. Download the urg_node package
git clone https://github.com/ncnynl/urg_node.git
4. Download the turtlebot_apps package
git clone https://github.com/turtlebot/ turtlebot_apps
2. Use QT to compile series related packages

3. Use
1. Configure environment variables (input sudo gedit .bashrc) and add source /home/ yyl/model_update_ws /devel/setup.bash
to the back of the file. Modify the part in bold according to your own file name. 2. Configure the usb port to establish hokuyo-utm- 30lx.rules

gedit hokuyo-utm-30lx.rules

enter:SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE="666", SYMLINK+="hokuyo", GROUP="dialout"

Copy hokuyo-utm-30lx.rules to /etc/udev/rules.d/

sudo mv hokuyo-utm-30lx.rules /etc/udev/rules.d/

restart udev

sudo service udev reload
sudo service udev restart

Re-insert the USB port of the lidar
Check the port

ls -l /dev/hokuyo

Create a lunch file: I create a hokuyo.launch in the path /home/yyl/model_update_ws/src/turtlebot_apps/turtlebot_navigation

gedit hokuyo.launch

enter:

<launch>
  <node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
    <param name="ip_address" value=""/>
    <param name="serial_port" value="/dev/hokuyo"/>
    <param name="serial_baud" value="115200"/>
    <param name="frame_id" value="laser"/>
    <param name="calibrate_time" value="true"/>
    <param name="publish_intensity" value="false"/>
    <param name="publish_multiecho" value="false"/>
    <param name="angle_min" value="-1.5707963"/>
    <param name="angle_max" value="1.5707963"/>
  </node>
</launch>

Start the lunch file:

roslaunch hokuyo.launch

Open rviz to view lidar data:

rviz