robot_gazebo

Scout2 robot carrying RS16 lidar/IMU/D435 sensors，running LIO-SAM in a room!

1. Environment

Development Environment

• Ubuntu 20.04 + ROS noetic

Download and install required function package

• GTSAM 4.1
• Eigen 3.3.7
• PCL 1.9

more detail on my blog https://blog.csdn.net/weixin_40599145/article/details/126929222

2. Compile

$ mkdir -P robot_ws/src
$ cd robot_ws/src
$ git clone https://github.com/linzs-online/robot_gazebo.git
$ cd ..
$ catkin_make

3. Run

before your launch the demo, you should source the workspace

if you used bash

$ source ~/robot_ws/devel/setup.bash

if you used zsh

$ source ~/robot_ws/devel/setup.zsh

Start the simulation environment

$ roslaunch scout_gazebo scout_gazebo.launch

Start the lio-sam

$ roslaunch lio_sam run.launch

Control by keyboard

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py