Raspberry pie 4B-ros-noetic- Connect Beiyang Lidar URG-04XL-UG0 1

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Today, I will install a ROS-noitec with raspberry pie. I'm going to use it and hokuyo lidarurg-04xl-ug01to learn SLAM, and run the gmapping algorithm first. Here I will record the driver and connection process of installing URG-04XL-UG0 1 on Ubuntu20.04, which is also a reference for the partners who are learning lidar.

First of all, about the failure of rosdep init initialization.

When ros is installed to the last step, you may find the following errors:

Error: Unable to download the default source list from the following location:

/ROS/ROS distro/master/rosdep/sources . list . d/20-default . list

The website may be closed.

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I don't know the cause of the mistake, but I have found a solution.

1. Open the following rosdistro download address and download it locally. The default address is download.

/ros/rosdistro

2. Decompress, the terminal opens the folder, enters the directory rosdistro/rosdep, finds the file /sources.list.d, and opens it with gedit.

sudo gedit 20-default.list

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Display as follows:

# List the operating system-specific list first.

Yaml file: //home/ file address/OSX-homebrew.yaml OSX.

# Universal

YAML file://home/file address/rosdep/base . YAML

YAML file://home/file address/python . YAML

YAML file://home/file address/ruby . YAML

GBP distribution://home/fileaddress/releases/fuerte.yamlfuerte.

# Newer distributions (Groovy, Hydro, ...) must no longer be listed, but get them from rosdistro index.yaml.

# If the default Download address is download, then the rosdistro file address is in it.

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3. modify __init__. Use python version of py file.

Because python3 was downloaded when ros was installed, the files in python3 were modified.

sudo gedit/usr/lib/python 3/dist-packages/ROS distro/_ _ init _ _。 Paraguay

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Similarly, replace the following path with the rosdistro path in the download.

DEFAULT _ INDEX _ URL = '/ROS/ROS distro/master/INDEX-v4 . YAML '

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Execute again

Rosdep initialization

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Generally no problem. If not, go to /etc to find ros to see if there is a 20-default.list file in it, or look in the search box, delete the redundant files, and repeat the initialization steps again. After initialization, ros can be used normally. As for the update step, I still can't update it, but I gave up without affecting the use.

Secondly, connect and display lidar URG-04XL-UG0 1 in rivz.

1. Download the driver ros-noetic-node.

Sudo installs ros-noetic-urg-node.

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Enter the password and wait for the download to complete.

2. Connect the laser radar

I use USB connection, and the power supply is directly on the raspberry pie motherboard. Open the ros running driver, start the ros first, and then run the startup program:

source/opt/ROS/no etic/setup . bash

Roscorey

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Open a new terminal:

source/opt/ROS/no etic/setup . bash

Roslunburg node urg node

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Wait for the lidar to automatically find and connect. After the connection is completed, the bottom will display: streaming data.

3. Open rviz to display the scanning status of lidar.

source/opt/ROS/no etic/setup . bash

Roslan Wizz Wizz

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After opening, set the parameters as follows:

(1) Click Add in the lower left corner of rviz to add LaserScan.

(2) Click the fixed box below the global option to change the parameters on the right to laser.

(3) Click on the theme below laser scanning to change it to/scan.

(4) Click on the pattern below laser scanning and change it to dot.

Then you can see the map generated by lidar scanning:

Ros2 can also connect the recording next time, and other operations will be recorded later.

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