系统：Ubuntu22.04

ROS2版本：Humble

雷达设备：rplidar_a1

一、安装必要的软件包

# 更新系统
sudo apt update

# 安装slam_toolbox
sudo apt install ros-humble-slam-toolbox

# 安装RPLidar驱动
sudo apt install ros-humble-rplidar-ros

# 安装导航相关包
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup

二、配置RPLidar_A1

创建udev规则（让系统识别雷达）

# 创建udev规则
echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", GROUP:="dialout", SYMLINK+="rplidar"' | sudo tee /etc/udev/rules.d/rplidar.rules

# 重新加载udev规则
sudo udevadm control --reload-rules
sudo udevadm trigger

重新插拔雷达USB线

测试雷达连接

# 查看雷达是否被识别
ls -l /dev | grep ttyUSB

# 应该看到类似：lrwxrwxrwx 1 root root 7 Nov  6 10:20 rplidar -> ttyUSB0

三、启动雷达

# 启动RPLidar A1
ros2 launch rplidar_ros rplidar_a1_launch.py

# 在另一个终端检查激光数据
ros2 topic echo /scan --no-arr | head -5

#这一步有报错很正常，因为我们只看前5行的数据

四、创建SLAM启动文件

# 创建工作空间目录（如果还没有）
mkdir -p ~/slam_ws/src
cd ~/slam_ws/src

# 创建功能包（如果需要）
ros2 pkg create my_slam --build-type ament_cmake --dependencies rclcpp slam_toolbox nav2_msgs

# 创建launch目录
mkdir -p ~/slam_ws/src/my_slam/launch

创建启动文件

nano ~/slam_ws/src/my_slam/launch/slam_with_rplidar.launch.py

添加以下代码：

import launch
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration

def generate_launch_description():
    # 定义启动参数
    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    
    # RPLidar A1 节点
    rplidar_node = Node(
        package='rplidar_ros',
        executable='rplidar_node',
        name='rplidar_node',
        parameters=[{
            'serial_port': '/dev/rplidar',
            'serial_baudrate': 115200,
            'frame_id': 'laser',
            'inverted': False,
            'angle_compensate': True,
            'scan_mode': 'Standard'
        }],
        output='screen'
    )
    
    # slam_toolbox 节点
    slam_toolbox_node = Node(
        package='slam_toolbox',
        executable='async_slam_toolbox_node',
        name='slam_toolbox',
        output='screen',
        parameters=[{
            'use_sim_time': use_sim_time,
            'map_frame': 'map',
            'odom_frame': 'odom', 
            'base_frame': 'base_link',
            'scan_topic': '/scan',
            'mode': 'mapping',  # 建图模式
            'resolution': 0.05,  # 地图分辨率
            'max_laser_range': 12.0,  # 最大激光范围
        }]
    )
    
    # 静态TF发布 - 定义雷达位置
    static_tf_laser = Node(
        package='tf2_ros',
        executable='static_transform_publisher',
        name='static_transform_publisher_laser',
        arguments=['0', '0', '0.1', '0', '0', '0', 'base_link', 'laser']
    )
    
    # 静态TF发布 - 定义base_link到odom的初始位置
    static_tf_odom = Node(
        package='tf2_ros',
        executable='static_transform_publisher',
        name='static_transform_publisher_odom',
        arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_link']
    )
    
    return launch.LaunchDescription([
        DeclareLaunchArgument('use_sim_time', default_value='false'),
        rplidar_node,
        static_tf_laser,
        static_tf_odom,
        slam_toolbox_node,
    ])

添加依赖

cd ~/slam_ws/src/my_slam
nano CMakeLists.txt

将内容修改为：

cmake_minimum_required(VERSION 3.8)
project(my_slam)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(slam_toolbox REQUIRED)
find_package(nav2_msgs REQUIRED)

# 添加这行：安装launch目录
install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

这一步主要添加了launch目录：

install(DIRECTORY launch

    DESTINATION share/${PROJECT_NAME}        

)

五、构建工作空间

cd ~/slam_ws
colcon build
source install/setup.bash

六、启动完整的SLAM系统

# 终端1：启动SLAM和雷达
ros2 launch my_slam slam_with_rplidar.launch.py

# 终端2：启动RViz2
ros2 run rviz2 rviz2

七、配置RViz2显示建图过程

在RViz2中：

1、修改Fixed Frame:

        Global Option---->Fixed Frame:设置为 map

2、添加显示项（点击Add按钮）

        LaserScan:

                Topic :  /scan

                Size : 0.1

                Color : 红色或绿色

        Map:

                Topic : /map

                Color Scheme : costmap

                Draw Behind : √

TF:

        显示坐标框架关系

3、保存RViz配置

file---->Save Config As ----> ~/slam_ws/slam_config.rviz

 八、开始建图

1、缓慢移动雷达在环境中行走

2、观察RViz中的建图过程

3、确保覆盖所有区域

九、保存地图

建图完成后，保存地图：

ros2 run nav2_map_server map_saver_cli -f ~/my_first_map