avdhootu27 / trackingwithrp

URDF sample for connection of RPLidar A1 and T-265 tracking camera with bot (base_link)

tracking_with_rplidar

This package is created in ros-noetic

Note - URDF is not created from any tool

Required packages -

Keep following packages and this package(trackingwithrp) in same ros-workspace

1. To use tracking camera T265: realsense-ros
2. To use RPLidar A1: rplidar_ros
3. To modify laser angle scan: laser_filters (noetic-devel)

Run following commands -

To start rplidar & tracking camera:

roslaunch trackingwithrp display.launch

To start gmapping:

roslaunch trackingwithrp gmapping.launch

To save the map:

rosrun map_server map_saver -f <map name>