173 lines
5.0 KiB
Markdown
173 lines
5.0 KiB
Markdown
# 1 **rslidar_sdk**
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[中文介绍](README_CN.md)
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## 1 Introduction
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**rslidar_sdk** is the Software Development Kit of the RoboSense Lidar based on Ubuntu. It contains:
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+ The lidar driver core [rs_driver](https://github.com/RoboSense-LiDAR/rs_driver),
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+ The ROS support,
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+ The ROS2 support,
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To get point cloud through ROS/ROS2, please just use this SDK.
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To integrate the Lidar driver into your own projects, please use the rs_driver.
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### 1.1 LiDAR Supported
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- RS-LiDAR-16
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- RS-LiDAR-32
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- RS-Bpearl
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- RS-Helios
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- RS-Helios-16P
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- RS-Ruby-128
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- RS-Ruby-80
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- RS-Ruby-48
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- RS-Ruby-Plus-128
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- RS-Ruby-Plus-80
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- RS-Ruby-Plus-48
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- RS-LiDAR-M1
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- RS-LiDAR-M2
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- RS-LiDAR-M3
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- RS-LiDAR-E1
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- RS-LiDAR-MX
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- RS-LiDAR-AIRY
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### 1.2 Point Type Supported
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- XYZI - x, y, z, intensity
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- XYZIRT - x, y, z, intensity, ring, timestamp
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## 2 Download
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### 2.1 Download via Git
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Download the rslidar_sdk as below. Since it contains the submodule rs_driver, please also use `git submodule` to download the submodule properly.
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```sh
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git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git
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cd rslidar_sdk
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git submodule init
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git submodule update
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```
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### 2.2 Download directly
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Instead of using Git, user can also access [rslidar_sdk_release](https://github.com/RoboSense-LiDAR/rslidar_sdk/releases) to download the latest version of rslidar_sdk.
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Please download the **rslidar_sdk.tar.gz** archive instead of Source code. The Source code zip file does not contain the submodule rs_driver, so it has to be downloaded manaully.
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## 3 Dependencies
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### 3.1 ROS
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To run rslidar_sdk in the ROS environment, please install below libraries.
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+ Ubuntu 16.04 - ROS Kinetic desktop
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+ Ubuntu 18.04 - ROS Melodic desktop
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+ Ubuntu 20.04 - ROS Noetic desktop
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For installation, please refer to http://wiki.ros.org.
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**It's highly recommanded to install ros-distro-desktop-full**. If you do so, the corresponding libraries, such as PCL, will be installed at the same time.
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This brings a lot of convenience, since you don't have to handle version conflict.
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### 3.2 ROS2
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To use rslidar_sdk in the ROS2 environment, please install below libraries.
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+ Ubuntu 16.04 - Not supported
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+ Ubuntu 18.04 - ROS2 Eloquent desktop
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+ Ubuntu 20.04 - ROS2 Galactic desktop
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+ Ubuntu 22.04 - ROS2 Humble desktop
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For installation, please refer to https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Install-Debians/
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**Please do not install ROS and ROS2 on the same computer, to avoid possible conflict and manually install some libraries, such as Yaml.**
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### 3.3 Yaml (Essential)
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version: >= v0.5.2
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*If ros-distro-desktop-full is installed, this step can be skipped*
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Installation:
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```sh
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sudo apt-get update
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sudo apt-get install -y libyaml-cpp-dev
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```
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### 3.4 libpcap (Essential)
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version: >= v1.7.4
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Installation:
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```sh
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sudo apt-get install -y libpcap-dev
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```
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## 4 Compile & Run
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### 4.1 Compile with ROS catkin tools
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(1) Create a new workspace folder, and create a *src* folder in it. Then put the rslidar_sdk project into the *src* folder.
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(2) Go back to the root of workspace, run the following commands to compile and run. (if using zsh, replace the 2nd command with *source devel/setup.zsh*).
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```sh
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catkin_make
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source devel/setup.bash
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roslaunch rslidar_sdk start.launch
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```
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### 4.2 Compile with ROS2 colcon
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(1) Create a new workspace folder, and create a *src* folder in it. Then put the rslidar_sdk project in the *src* folder.
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(2) Download the packet definition project in ROS2 through [link](https://github.com/RoboSense-LiDAR/rslidar_msg), then put the project rslidar_msg in the *src* folder you just created.
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(3) Go back to the root of workspace, run the following commands to compile and run. (if using zsh, replace the 2nd command with *source install/setup.zsh*).
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```sh
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colcon build
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source install/setup.bash
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ros2 launch rslidar_sdk start.py
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```
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Another version of start.py may be used, since it is different on different versios of ROS2. For example, elequent_start.py is used instead for ROS2 elequent.
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## 5 Introduction to parameters
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To change behaviors of rslidar_sdk, change its parameters. please read the following links for detail information.
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[Intro to parameters](doc/intro/02_parameter_intro.md)
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[Intro to hidden parameters](doc/intro/03_hiding_parameters_intro.md)
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## 6 Quick start
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Below are some quick guides to use rslidar_sdk.
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[Connect to online LiDAR and send point cloud through ROS](doc/howto/06_how_to_decode_online_lidar.md)
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[Decode PCAP file and send point cloud through ROS](doc/howto/08_how_to_decode_pcap_file.md)
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[Change Point Type](doc/howto/05_how_to_change_point_type.md)
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## 7 Advanced Topics
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[Online Lidar - Advanced topics](doc/howto/07_online_lidar_advanced_topics.md)
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[PCAP file - Advanced topics](doc/howto/09_pcap_file_advanced_topics.md)
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[Coordinate Transformation](doc/howto/10_how_to_use_coordinate_transformation.md)
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[Record rosbag & Replay it](doc/howto/11_how_to_record_replay_packet_rosbag.md)
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[Solution for ROS2_humble frame rate reduction](doc/howto/13_how_to_solve_ROS2_humble_frame_rate_drop.md)
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