Comments (3)
-
Check your difop port, if it is wrong, vertical angle may miss when decoding data
-
If you are using a very old version RS16, angle message will not sent out by difop, you need to load it manually
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Thanks for the answer @HaoQChen. It seems that I have an old version of RS16. I loaded it manually and now I have the full point cloud.
In the config.yaml
file, I added a line angle_path
under driver
like this:
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
angle_path: /home/user/angle.csv
I copied the file angle.csv
from https://github.com/RoboSense-LiDAR/ros_rslidar/tree/master/rslidar_pointcloud/data/rs_lidar_16
and I added a column of zeros because it seems that it is the format the difop port publishes the data.
-14.9994,0
-12.9766,0
-10.9894,0
-8.9750,0
-6.9734,0
-4.9900,0
-2.9946,0
-0.9918,0
14.9860,0
12.9630,0
10.9756,0
8.9960,0
6.9945,0
5.0113,0
2.9803,0
1.0133,0
Thanks for the help!
from rslidar_sdk.
yes, second column is horizontal angle, and all lasers of RS16 is in one column, so it is 0(RS32 is different)
Old version, we will give you a USB disk, there is a angle file in it. This one will more fit your lidar
from rslidar_sdk.
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