.速腾聚创16线激光雷达ros驱动安装与rviz点云展示说明
V1.0.0 – by Holden
Date : 2021-10-12
文章目录
1. 激光雷达硬件连接
1.1 工具准备
- 准备一套速腾聚创16线激光雷达
- 本文使用的PC系统是Ubuntu 1804系统,也使用Ubuntu 1604,Ubuntu 20.04;
- 准备AC 220V电源或DC 12V;
1.2 硬件连接
[1] 如下图所示,将雷达一端的航插头接口与雷达电源盒子的航插头接口两个,对准红点接好;
[2] 接上电源,接上网线,一端接入到PC,一端接入到电源盒子,如下图;
[3] 设置PC Ubuntu1804静态IP,速腾聚创16线激光雷达出厂默认发送到192.168.1.102,在连接前可以通过wireshark抓包工具进行检测;
!!!正常发送UDP数据流才算正常接入!!!
2. 激光雷达参数配置
从以上数据流可以看出,雷达的IP是192.168.1.200,PC的静态IP是192.168.1.102,端口分别是6699、7788;
如果需要修改这些信息,需要使用速腾聚创16线激光雷达的官方上位机,下载路径:https://www.robosense.ai/resources-27
本文不做解释!!
3. ROS驱动安装&&参数配置
[1] 使用Git下载驱动:https://github.com/RoboSense-LiDAR/rslidar_sdk
git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git
cd rslidar_sdk
git submodule init
git submodule update
[2] 安装Pcap
sudo apt-get install -y libpcap-dev
[3] 参数配置,打开config.yaml,安装提示配置;
common:
msg_source: 1 #0: not use Lidar
#1: packet message comes from online Lidar
#2: packet message comes from ROS or ROS2
#3: packet message comes from Pcap file
#4: packet message comes from Protobuf-UDP
#5: point cloud comes from Protobuf-UDP
send_packet_ros: true #true: Send packets through ROS or ROS2(Used to record packet)
send_point_cloud_ros: true #true: Send point cloud through ROS or ROS2
send_packet_proto: false #true: Send packets through Protobuf-UDP
send_point_cloud_proto: false #true: Send point cloud through Protobuf-UDP
pcap_path: /media/holden/JIANQIN2/RS-Bpearl_v2_RoadTest_update-20200312/RS-Bpearl_TunnelTest_Data.pcap #The path of pcap file
lidar:
- driver:
lidar_type: RS16 #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS
frame_id: /rslidar #Frame id of message
msop_port: 6699 #Msop port of lidar
difop_port: 7788 #Difop port of lidar
start_angle: 0 #Start angle of point cloud
end_angle: 360 #End angle of point cloud
min_distance: 0.2 #Minimum distance of point cloud
max_distance: 200 #Maximum distance of point cloud
use_lidar_clock: false #True--Use the lidar clock as the message timestamp
#False-- Use the system clock as the timestamp
ros:
ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
ros_send_point_cloud_topic: /rslidar_points #Topic used to send point cloud through ROS
proto:
point_cloud_recv_port: 60021 #Port number used for receiving point cloud
point_cloud_send_port: 60021 #Port number which the point cloud will be send to
msop_recv_port: 60022 #Port number used for receiving lidar msop packets
msop_send_port: 60022 #Port number which the msop packets will be send to
difop_recv_port: 60023 #Port number used for receiving lidar difop packets
difop_send_port: 60023 #Port number which the difop packets will be send to
point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to
packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to
[4] 驱动直接编译
按照如下指令即可编译运行程序。 直接编译也可以使用ROS相关功能(不包括ROS2),但需要在程序启动前手动启动roscore,启动后手动打开rviz才能看到可视化点云结果。
cd rslidar_sdk
mkdir build && cd build
cmake .. && make -j4
./rslidar_sdk_node
4. rviz点云展示
显示点云如下