ROS2 slam_toolbox 激光雷达建图配置指南

系统环境

系统：Ubuntu 22.04 ROS2 版本：Humble 雷达设备：RPLidar A1

一、安装必要的软件包

# 更新系统
sudo apt update
# 安装 slam_toolbox
sudo apt install ros-humble-slam-toolbox
# 安装 RPLidar 驱动
sudo apt install ros-humble-rplidar-ros
# 安装导航相关包
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup

二、配置 RPLidar A1

创建 udev 规则（让系统识别雷达）

echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", GROUP:="dialout", SYMLINK+="rplidar"' | sudo tee /etc/udev/rules.d/rplidar.rules
sudo udevadm control --reload-rules
sudo udevadm trigger

重新插拔雷达 USB 线后测试连接：

ls -l /dev | grep ttyUSB
# 应该看到类似：lrwxrwxrwx 1 root root 7 Nov 6 10:20 rplidar -> ttyUSB0

三、启动雷达

# 启动 RPLidar A1
ros2 launch rplidar_ros rplidar_a1_launch.py
# 在另一个终端检查激光数据
ros2 topic echo /scan --no-arr | head -5

四、创建 SLAM 启动文件

mkdir -p ~/slam_ws/src
cd ~/slam_ws/src
ros2 pkg create my_slam --build-type ament_cmake --dependencies rclcpp slam_toolbox nav2_msgs
mkdir -p ~/slam_ws/src/my_slam/launch
nano ~/slam_ws/src/my_slam/launch/slam_with_rplidar.launch.py

添加以下代码：

import launch
from launch_ros.actions import Node
 launch.actions  DeclareLaunchArgument
 launch.substitutions  LaunchConfiguration

 ():
    use_sim_time = LaunchConfiguration(, default=)
    rplidar_node = Node(
        package=, executable=, name=,
        parameters=[{
            : , : ,
            : , : , : , : 
        }], output=
    )
    slam_toolbox_node = Node(
        package=, executable=, name=, output=,
        parameters=[{
            : use_sim_time, : , : ,
            : , : , : ,
            : , : 
        }]
    )
    static_tf_laser = Node(
        package=, executable=, name=,
        arguments=[, , , , , , , ]
    )
    static_tf_odom = Node(
        package=, executable=, name=,
        arguments=[, , , , , , , ]
    )
     launch.LaunchDescription([
        DeclareLaunchArgument(, default_value=),
        rplidar_node, static_tf_laser, static_tf_odom, slam_toolbox_node,
    ])