镭神c16激光雷达使用及适配Autoware

镭神c16激光雷达使用及适配Autoware

贴个链接：https://www.ncnynl.com/archives/201810/2762.html

创建工作空间

mkdir -p ~/lslidar_ws/src

下载激光雷达驱动

cd ~/lslidar_ws/src
git clone https://github.com/tongsky723/lslidar_C16.git

编译

cd ~/lslidar_ws
catkin_make

添加环境变量

echo "source ~/lslidar_ws/devel/setup.bash" >> ~/.bashrc

创建RVIZ文件

sudo gedit ~/lslidar_ws/src/lslidar_c16/lslidar_c16_decoder/launch/lslidar_c16.rviz

添加以下内容

Panels:
  - Class: rviz/Displays
    Help Height: 89
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Grid1
        - /PointCloud21
        - /PointCloud21/Autocompute Value Bounds1
        - /Axes1
      Splitter Ratio: 0.5
    Tree Height: 733
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 10
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 20
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 135.535004
        Min Value: -69.2572021
        Value: false
      Axis: X
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 226
      Min Color: 0; 0; 0
      Min Intensity: 1
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 255
      Selectable: true
      Size (Pixels): 2
      Size (m): 0.00999999978
      Style: Points
      Topic: /rslidar_points
      Unreliable: true
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Axes
      Enabled: true
      Length: 1
      Name: Axes
      Radius: 0.100000001
      Reference Frame: <Fixed Frame>
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: rslidar
    Frame Rate: 10
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/ThirdPersonFollower
      Distance: 49.6928291
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 4.06498575
        Y: -10.8205557
        Z: -2.45250994e-05
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 1.14480078
      Target Frame: aft_mapped
      Value: ThirdPersonFollower (rviz)
      Yaw: 4.18355608
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1027
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000377fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000377000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000394fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000394000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000040fc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000037700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1855
  X: 65
  Y: 43

网络配置

激光雷达网线连接电脑并接入电源，进入ubuntu系统设置settings，配置有线网络参数，获取方式改为手动。
地址：192.168.1.102 掩码：255.255.255.0
网关：192.168.1.1 DNS：223.5.5.5
配置完成后打开终端输入：ping 192.168.1.200

如上所示则为雷达发送数据正常
注：虚拟机网络配置需将虚拟机网络适配器改为桥接再设置网络参数

启动程序

source ~/lslidar_ws/devel/setup.bash
roslaunch lslidar_c16_decoder lslidar_c16.launch

启动RVIZ

rviz

修改Fixed Frame为laser_link
添加话题lslidar_point_cloud下pointcloud2可查看点云

适配Autoware

由于Autoware默认使用velodyne激光雷达，参考系使用velodyne；点云话题为points_raw。需要将/lslidar/src/lslidar_C16/lslidar_c16_decoder/launch/lslidar_c16.launch文件中的frame id由laser_link修改为velodyne，将原话题lslidar_point_cloud转化为points_raw，即添加一行

<remap from="lslidar_point_cloud" to="/points_raw" />

如下图所示。

打开RVIZ后将fixed frame改为velodyne，添加话题points_raw下的pointcloud2可查看点云。