Project Unknown: Autonomous Quadcopter - SLAM on Raspberry Pi 2 using RPLiDAR
Music - Improvisation by Artificial.Music / improvisation
I successfully ran Hector SLAM on a Raspberry Pi 2 Model B+.
OS: Ubuntu ARM 14.04 LTS
ROS Indigo
Issue found during setup:
I found that there seems to be a problem communicating with the lidar, when it's directly plugged into the Raspberry Pi's USB port. The lidar will be powered but it will not be detected by the rplidar node. The solution I found was to simply use a USB Hub (powered might not be necessary but I used one). I believe the reason this made it work was either power related or communication protocol related.
The slam program runs flawlessly. At one point I will be releasing a modified hector_mapping package on GitHub which optimizes the algorithm for the RPLiDAR's low scan rate. However, The algorithm still works fine as long as you do not yaw too quickly.