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Lidar and Indoor Mapping User Manual.md

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Lidar and Indoor Mapping User Manual

System Requirements

Ubuntu Mate 20.24

Please follow the official guide from Ubuntu Mate to install Ubuntu Mate 20.04 on Raspberry Pi 4. You can find the image on this link.

ROS Noetic

Please follow the official documentation from ROS.org for installation guidance for ROS Noetic.

RPLidar Installation

https://github.com/robopeak/rplidar_ros

Preparation

  1. Add permission to the USB port.

    $ sudo chmod 666 /dev/ttyUSB0

  2. See what is connected to /dev/ttyUSB0, /dev/ttyUSB1, and /dev/ttyUSB2 etc.

    $ dmesg | grep "tty"

Install rplidar_ros package

  1. In a catkin_ws workspace, cd into /catkin_ws/src/

    $ cd /catkin_ws/src

  2. Then clone the git repo git clone https://github.com/robopeak/rplidar_ros.git

  3. Under /catkin_ws/ folder catkin_make

    $ roscore
$ roslaunch rplidar_ros view_rplidar.launch

Hector SLAM Installation

https://github.com/tu-darmstadt-ros-pkg/hector_slam/tree/noetic-devel

Install hector_slam package

  1. In a catkin_ws workspace, cd into /catkin_ws/src/.

  2. Then clone the git repo git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git

  3. Modify several files

    • In file /catkin_ws/src/hector_slam/hector_mapping/launch/mapping_default.launch, change the following configurations.

      <!-- <arg name="base_frame" default="base_footprint"/> -->

<arg name="base_frame" default="base_link"/>

      <!-- <arg name="odom_frame" default="nav"/> -->

<arg name="odom_frame" default="base-link"/>

      <!-- <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/> -->

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>

    • In file /catkin_ws/src/hector_slam/hector_slam_launch/launch/tutorial.launch, change the following configurations.

      <!-- <param name="/use_sim_time" value="true"/> -->

<param name="/use_sim_time" value="false"/>

  4. Under /catkin_ws/ folder do catkin_make.

    $ sudo chmod 666 /dev/ttyUSB0
$ roscore
$ roslaunch rplidar_ros rplidar.launch
$ roslaunch hector_slam_launch tutorial.launch

Run Mapping

WARNING! Due to the Lidar Mapping need to use lots of CPU resources, Raspberry Pi must be powered properly. If you are using a mobile charger, make sure it can deliver an output of 5V 3A.

Check USB Port

  1. Check the corresponding USB port for Roomba and Lidar. For simplicity, it is recommended to connect Lidar to Raspberry Pi first.

    dmesg | grep "tty"

    Make sure you see the following settings.

    cp210x converter → Lidar `ttyUSB0`
FTDI USB Serial Device converter → Roomba `ttyUSB1`

  2. Add executable permissions to both ports

    sudo chmod 666 /dev/ttyUSB0 /dev/ttyUSB1

Control Roomba via Keyboard

$ cd code/
$ sudo python3 Create2_TetheredDrive.py

# Click Create → Connect
# Type in "dev/ttyUSB1" to connect the Roomba
# Use the keyboard to control the movement of the Roomba

Run Hector Mapping

$ cd catkin_ws
$ roscore
$ roslaunch rplidar_ros rplidar.launch
$ roslaunch hector_slam_launch tutorial.launch