ros2与传感器-整合RS-lidar-16/32线/rs-helios-16/32线雷达（速腾）

ros2与传感器-整合RS-lidar-16线雷达

说明：

• 介绍如何在ros2下使用RS-lidar-16线雷达
• 环境: ubuntu20.04 + ros2 galactic
• 具体产品，点击淘宝地址
• 适合雷达：RS-lidar-16,RS-lidar-32,rs-helios-16,rs-helios-32

步骤：

• 首先将激光雷达速腾RS-lidar-16与电脑相连
• RS-lidar-16上电（12v） 
• RS-lidar-16官方默认的ip是192.168.1.200
• 通过以太网网口连接电脑  
• 新增网络rslidar-16，以太网->ipv4设置->方法：手动，更改配置

address :192.168.1.102 
netmask: 255.255.255.0   
gateway: 192.168.1.1 

• 然后打开浏览器输入192.168.1.200可以看到激光雷达的配置文件

• 安装相关包

sudo apt-get install libboost-dev libpcap-dev libpcl-dev libeigen3-dev

• 安装ros工程包

cd ~/rslidar_ws/src
git clone https://github.com/RoboSense-LiDAR/rslidar_sdk
cd ~/rslidar_ws/
colcon build --symlink-install

• 配置雷达类型参数，其他参数配置说明，参考
• 修改rslidar_sdk/config/config.yaml
• RS-lidar-16配置lidar_type为RS16
• RS-lidar-32配置lidar_type为RS32
• RS-helios-16配置lidar_type为RSHELIOS_16P
• RS-helios-32配置lidar_type为RSHELIOS

    lidar:
        - driver:
            lidar_type: RS16   #LiDAR type - RS16, RS32, RSBP, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, 
            frame_id: /rslidar  #Frame id of message

• 测试

. ~/rslidar_ws/install/local_setup.bash
ros2 launch rslidar_sdk start.py

• 查看点云话题

ros2 topic echo /rslidar_points

• 效果如下：

---
header:
  stamp:
    sec: 1664437253
    nanosec: 820659161
  frame_id: /rslidar
height: 16
width: 1992
fields:
- name: x
  offset: 0
  datatype: 7
  count: 1
- name: y
  offset: 4
  datatype: 7
  count: 1
- name: z
  offset: 8
  datatype: 7
  count: 1
- name: intensity
  offset: 16
 datatype: 7
  count: 1
is_bigendian: false
point_step: 32
row_step: 63744
data:
- 0
- 0
- 192
- 127
- 0
- 0
- 192
- 127
- 0
- 0
- 192
- 127
- 0
- 0
- 128
- 63
- 0
- 0
- 0
- 0
- 66
- 127
- 0
- 0
- 32
- 106
- 0
- 8
- 66
- 127
- 0
- 0
- 0
- 0
- 192
- 127
- 0
- 0
- 192
- 127
- 0
- 0
- 192
- 127
- 0
- 0
- 128
- 63
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 112
- 28
- 177
- 123
- 184
- 85
- 0
- 0
- 0
- 0
- 192
- 127
- 0
- 0
- 192
- 127
- 0
- 0
- 192
- 127
- 0
- 0
- 128
- 63
- 0
- 0
- 0
- 0
- 65
- 127
- 0
- 0
- 0
- 59
- 181
- 0
- 40
- 228
- 0
- 31
- 0
- 0
- 192
- 127
- 0
- 0
- 192
- 127
- 0
- 0
- 192
- 127
- 0
- 0
- 128
- 63
- 0
- 0
- 0
- 0
- 65
- 127
- 0
- 0
- 6
- 1
- 70
- 6
- 1
- 70
- 4
- 1
- '...'
is_dense: false

RIVZ查看点云

• 效果图