turtlebot2でHOKUYO-30LX-EWをros hydro上でrvizで利用できるようにしたので方法を紹介しておきます。
1. terminalに
%roscore%roscd turtlebot_bringup/launch
2. %sudo chmod 777 minimal.launch
%emacs -nw minimal.launch
<node name="laser_driver" pkg="urg_node" type="urg_node">
<param name="frame_id" value="base_laser_link" />
<rosparam>
publish_intensity: false
angle_min: -2.2689
angle_max: 2.2689
cluster: 1
skip: 0
ip_address: 192.168.0.10
ip_port: 10940
serial_port: /dev/ttyACM0
frame_id: laser
calibrate_time: true
time_offset: 0.0
publish_multiecho: true
</rosparam>
</node>
を</launch>より上に入力
3. %sudo chmod 777 3dsensor.launch
%emacs -nw 3dsensor.launch
<arg name="scan_topic" default="scan" />
を
<arg name="scan_topic" default="kinect_scan" />
に置き換え
4. terminalで
%roslaunch turtlebot_bringup minimal.launch
%rosrun rviz rviz
rviz上で
Fixed Frame : base_laser_link
を選択
