What parameters need to be reconfigured to replace the new radar of ROS robot

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 .