杉川雷达gmapping.launch文件，无里程计

<!-- 
Example launch file: uses laser_scan_matcher together with
slam_gmapping 
-->

<launch>

  #### set up data playback from bag #############################

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

  #### rplidar_a2 ################################################
  <!--激光雷达的启动文件-->
 <node name="delta_lidar"    pkg="delta_lidar"  type="delta_lidar_node" output="screen">
  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
  <param name="frame_id"            type="string" value="laser"/>  
  <param name="serial_baudrate"     type="int"    value="256000"/><!--A3 -->

  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  <param name="scan_mode"           type="string" value="Sensitivity"/>
 </node>

  #### publish an example base_link -> laser transform ###########

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />

  #### start rviz ################################################

  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find laser_scan_matcher)/demo/demo_gmapping.rviz"/>

  #### start the laser scan_matcher ##############################

  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "odom"/>
    <param name="max_iterations" value="10"/>

    <param name="base_frame" value = "base_link"/>
    <param name="use_odom" value="false"/>
    <param name="publy_pose" value = "true"/>
    <param name="publy_tf" value="true"/>


  </node>

  #### start gmapping ############################################
<!--前三个param必须设置修改，要不然tf_tree不完整-->
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="/base_link"/> <!--***机器人的坐标系-->
    <param name="odom_frame" value="/odom" /> <!--***世界坐标系-->
    <param name="map_frame" value="/map" /> <!--***地图坐标系-->

    <param name="map_udpate_interval" value="1.0"/>
    <param name="maxUrange" value="5.0"/>
    <param name="sigma" value="0.1"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.15"/>
    <param name="astep" value="0.15"/>
    <param name="iterations" value="1"/>
    <param name="lsigma" value="0.1"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="1"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="0.4"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="10"/>
    <param name="xmin" value="-5.0"/>
    <param name="ymin" value="-5.0"/>
    <param name="xmax" value="5.0"/>
    <param name="ymax" value="5.0"/>
    <param name="delta" value="0.02"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.05"/>
    <param name="lasamplerange" value="0.05"/>
    <param name="lasamplestep" value="0.05"/>
  </node>

</launch>

标签：################################################,杉川,launch,里程计,####,start,laser,
来源： https://blog.csdn.net/sanqianranshao/article/details/121183406