sudo apt-get install ros-kinetic-jackal-*
sudo apt-get install ros-kinetic-velodyne-*
You can use the following commands to download and compile the package.
cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/jackal_velodyne.git
cd ..
catkin_make
roslaunch jackal_velodyne run.launch
Change sensor settings at the bottom of jackal_velodyne.urdf.xacro
parent="base_link"
name="velodyne"
topic="/velodyne_points"
hz="10"
samples="1800"
gpu="false"
- Put new world file to
worlds
folder - Change
run.launch
file to use the new world
It's recommended that upgrade your Gazebo to the latest version, which has great performance improvements.
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt update
sudo apt upgrade
- Install teleop package:
sudo apt-get install ros-kinetic-teleop-twist-keyboard
- Run:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
- Install:
sudo apt-get install ros-kinetic-slam-gmapping
- Run:
roslaunch jackal_velodyne gmapping_demo.launch
- Set the
2D Nav Goal
in Rviz