# pacecat_ros

**Repository Path**: sdkmsdn_admin/pacecat_ros

## Basic Information

- **Project Name**: pacecat_ros
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2021-07-20
- **Last Updated**: 2023-04-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 使用pacecat 2D激光雷达用于cartogarpher slam 建图定位

- 安装

- 运行



## 安装

安装cartographer slam

```
sudo apt-get install ros-melodic-cartographer*
```

建立工作空间

```
mkdir -p pacecat_ws/src
cd pacecat_ws/src
```

下载项目

```
git clone https://gitee.com/bingobinlw/pacecat_ros
```

编译

```
cd ..
catkin_make
```

设置环境路径到~/.bashrc （略）

## 运行

1、检查cartographer是否安装成功

```
roslaunch pacecat_ros test_cartogra.launch
```

会出现如下图则说明安装成功

![image](./image/test_cartographer.png)

2、运行pacecat 驱动是否工作正常

```
roslaunch pacecat_ros demo_rviz.launch
```

会出现rviz界面，并确保**Fixed Frame** 为**laser**，scan数据类型激光雷达将出现

3、运行cartographer建图与定位

```
roslaunch pacecat_ros demo_cartogra.launch
```

![image](./image/pacecat_cartogra.png)