有效解决catkin_make报错,roslaunch找不到包的问题
1,安装pointcloud_to_laserscan包
cd ~/catkin_ws/src
git clone https://github.com/BluewhaleRobot/pointcloud_to_laserscan.git
cd ~/catkin_ws
catkin_make
2,创建launch文件
cd ~/catkin_ws/src/pointcloud_to_laserscan/launch
gedit point_to_scan.launch
在打开的文本中输入如下:
<?xml version="1.0"?>
<launch>
<!-- run pointcloud_to_laserscan node -->
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="/rslidar_points"/>
<rosparam>
# target_frame: rslidar # Leave disabled to output scan in pointcloud frame
transform_tolerance: 0.01
min_height: -0.4
max_height: 1.0
angle_min: -3.1415926 # -M_PI
angle_max: 3.1415926 # M_PI
angle_increment: 0.003 # 0.17degree
scan_time: 0.1
range_min: 0.2
range_max: 100
use_inf: true
inf_epsilon: 1.0
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 1
</rosparam>
</node>
</launch>
这里需要注意的是这句代码:<remap from="cloud_in" to="/rslidar_points"/>。因为激光雷达节点发布的信息是/rslidar_points,因此需要将pointcloud_to_laserscan的订阅信息从默认的cloud_in改为/rslidar_points。
3,启动pointcloud_to_laserscan节点
roslaunch pointcloud_to_laserscan point_to_scan.launch
如果roslaunch不到节点,则:
rospack find pointcloud_to_laser
然后接可以了,亲测有效!!!!!!!!!!!!