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What parameters need to be reconfigured to replace the new radar of ROS robot
2022-07-07 13:31:00 【Plum fruit tea】
1. background
Self developed chassis - indoor ROS The robot needs to be replaced 2D Laser radar , In the whole system ( signal communication 、 Drawing 、 location 、 Navigation ) What parameters need to be reconfigured ?
2. Communicate with the lower computer
1、 First of all, we need to know the radar IP
, Modify the interface of industrial computer IP
And laser radar IP
For the same segment .
2、 Inform the next machine (STM32) modify IP
, Reason for modification : The data transmission mode of chassis upper computer and lower computer is Socket; otherwise , Unable to receive the message sent by the lower computer odom data .
3、 LAN built by router , Router ip
It also needs to be modified ( Set the master-slave machine ).
Be careful : You can also modify the radar ip
, So the next machine 、 Routers and industrial computers ip
You don't have to change it .
3. Carto Drawing part
1、 Confirm the installation position of lidar , Modify the urdf file (r,p,y,x,y,z).
4. Navigation The navigation part
1、Navigation Navigation startup file launch Revision in China base_link To laser Of TF Transformation , Modify the installation position coordinates of the radar .( For positioning part amcl, Need to reconfigure ; If use Carto location , There is no need to configure , The mapping part has been configured )
5. Radar ROS Drive pack
1、 Confirm lidar ROS The topic name in the driver package 、rame_id Is it consistent with the parameters set in the map building navigation .
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