yangdaiyu123 / ros_rslidar_robosense

Robosense RS-Lidar driver and visualization tools based on ROS

1. Prerequisites

(1) Install a ubuntu PC. We suggested Ubuntu 14.04 or Ubuntu 16.04. Please do not use virtual machine. (2) Install ros full-desktop version. We tried Indigo and Kinect. (3) Please also install libpcap-dev.

2. Install

(1). Copy the whole rslidar directory into ROS workspace, i.e "~/catkin_ws/src".

(2). Check the file attributes:

cd ~/catkin_ws/src/ros_rslidar/rslidar_drvier
chmod 777 cfg/*
cd ~/catkin_ws/src/ros_rslidar/rslidar_pointcloud
chmod 777 cfg/*

(3). Then to compile the source code and to install it:

cd ~/catkin_ws
catkin_make

3. Configure PC IP

By default, the RSLIDAR is configured to 192.168.1.200 as its device IP and 192.168.1.102 as PC IP that it would communicate. The default MSOP port is 6699. So you need configure your PC IP as a static one 192.168.1.102.

4. Run and view real time data

We have provide example launch files under rslidar_pointcloud/launch, we can run the launch file to view the point cloud data. For example, if we want to view RS-LiDAR-16 real time data: (1). Open a new terminal and run:

cd ~/catkin_ws
source devel/setup.bash
roslaunch rslidar_pointcloud rs_lidar_16.launch

(2). Open a new terminal and run:

rviz

Set the Fixed Frame to "rslidar". Add a Pointcloud2 type and set the topic to "rslidar_points".

5. About the lidar data

Under "rslidar_pointcloud/data" directory, you can find the lidar data files for the exact sensor. By default the launch file "rs_lidar_16.launch" load the three files:

• rslidar_pointcloud/data/rs_lidar_16/angle.csv
• rslidar_pointcloud/data/rs_lidar_16/ChannelNum.csv
• rslidar_pointcloud/data/rs_lidar_16/curves.csv.

If you have more than one RSLIDAR, you can create new sub-directories under the "rslidar_pointcloud/data/", and put the data files into it.Then you need rewrite the launch file to start you lidar. We have put an example launch file "two_lidar.launch" to load two lidars together for reference.

/Mofied by Chuanzhe Suo/

6. Read lidar data stream from pcap file

cd ~/catkin_ws
source devel/setup.bash
roslaunch rslidar_pointcloud rs_lidar_32_pcap.launch path:=<your pcap file path>