树莓派Pi4B+激光雷达SLAM建图环境搭建(Ubuntu20.04.3 + ROS Noetic)

sudo snap install rpi-imager

# 添加work用户
sudo adduser work
# 添加权限
sudo vim /etc/sudoers
  work ALL=(ALL) ALL
sudo usermod -aG sudo,adm,dialout,cdrom,floppy,audio,dip,video,plugdev,lxd,netdev work
# 查看权限
id work
# 切换用户
su work

# 更新
sudo apt update
sudo apt upgrade
# 安装桌面
sudo apt install -y ubuntu-desktop

# linux下一键安装
curl -s https://install.zerotier.com | sudo bash
# 加入自己创建的私有网络
zerotier-cli join a09acf02339e3f97

# 配置ros源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 添加公钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# 或  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
# 安装ros桌面版
sudo apt update
sudo apt install ros-noetic-desktop   #桌面完整版-desktop-full；桌面版-desktop；基础版-ros-base
# 安装slam包
sudo apt install ros-noetic-slam-gmapping  ros-noetic-map-server


# 设置环境
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# 安装编译依赖
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential 
# 初始化 rosdep
sudo apt install python3-rosdep
sudo vim /etc/hosts
    185.199.110.133  raw.githubusercontent.com
sudo rosdep init
rosdep update

# 准备编译目录
mkdir -p ~/catkin_ws/src
cd catkin_ws/src/
# 克隆RPLIDAR ROS代码库（记得添加板子的ssh key到github）
git clone git@github.com:robopeak/rplidar_ros.git
# 编译
cd ~/catkin_ws
catkin_make

# source
echo "source /home/ubuntu/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
echo $ROS_PACKAGE_PATH

# 启动激光雷达节点
roscore
rosrun rplidar_ros rplidarNode

# 查看激光雷达数据
rostopic list
rostopic echo /scan

# 可视化点云数据
roslaunch rplidar_ros view_rplidar.launch
# 如果在PC上查看点云，须去掉rplidarNode的启动
roscd rplidar_ros/launch/
cp view_rplidar.launch view_rplidar_robot.launch # 修改robot文件，把rplidar.launch注释掉，以免PC本地启动rplidar节节点

# 定位与地图管理工具
sudo apt install ros-noetic-fake-localization ros-noetic-map-server 
# hector 不需要里程计数据，只根据激光信息即可构建地图
sudo apt install ros-noetic-hector-slam ros-noetic-hector-slam-launch 
# gmapping 需要IMU+里程计+激光信息构建地图
sudo apt install ros-noetic-gmapping ros-noetic-slam-gmapping
# karto
sudo apt install ros-noetic-open-karto ros-noetic-slam-karto

# SLAM建图测试
roslaunch rplidar_ros view_slam.launch
# PC端可视化
roslaunch rplidar_ros view_slam_robot.launch   #只保留rviz node即可

# 保存地图
roscd rplidar_ros/
mkdir map -p && cd map
rosrun map_server map_saver -f map