ROS example (Opensource ROS migration)

ROS tutorial example for ROS migration

Download

cd ~/catkin_ws/src
git clone https://github.com/sjnah/lidar_mapping
cd ..
catkin_make

Run

# Terminal 1
roscore

# Terminal 2
cd ~/catkin_ws/src/lidar_mapping/scripts
python3 lidar_mapping_example.py

# Terminal 3
cd ~/catkin_ws/src/lidar_mapping/bag
rosbag play 2d_lidar2.bag -r 0.1

Reference

base code

• https://github.com/AtsushiSakai/PythonRobotics/tree/master/Mapping/lidar_to_grid_map

rosbag file

• https://github.com/mbed92/laser-scanner-ros