Multi LiDAR 인수인계

Multi LiDAR를 위한 LiDAR 드라이버 세팅

Multi Lidar를 위한 LiDAR 드라이버 세팅

• 압축 파일명: bpearl_only_rslidar_sdk.zip

• multi_lidar 디렉토리의 bpearl_only_rslidar_sdk를 깃허브 주소를 참고하여 실행 시 Bpearl 센서 2대 동작 가능 Center LiDAR의 경우 FutureDrive ROS2 NIRO에서 실행시키는 기존 상태 그대로 사용

  colcon build  
  source install/setup.bash  
  ros2 launch rslidar_sdk start.py

• Configuration: src/rslidar_sdk/config.yaml

  • Bpearl 1

    - driver:
    	  lidar_type: RSBP             #LiDAR type - RS16, RS32, RSBP, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, 
    								   #             RSM1, RSM1_JUMBO, RSM2, RSE1
    	  msop_port: 1990              #Msop port of lidar
    	  difop_port: 1991             #Difop port of lidar
    	  start_angle: 0               #Start angle of point cloud
    	  end_angle: 360               #End angle of point cloud 
    	  wait_for_difop: true
    	  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
    	  pcap_path: /home/robosense/lidar.pcap #The path of pcap file
    	ros:
    	  ros_frame_id: rslidar_left                           #Frame id of packet message and point cloud message
    	  ros_recv_packet_topic: /left/rslidar_packets          #Topic used to receive lidar packets from ROS
    	  ros_send_packet_topic: /left/rslidar_packets          #Topic used to send lidar packets through ROS
    	  ros_send_point_cloud_topic: /left/rslidar_points      #Topic used to send point cloud through ROS
    	  
    	  proto:
    	  point_cloud_recv_port: 60024                     
    	  point_cloud_send_port: 60024                     
    	  msop_recv_port: 60025                       
    	  msop_send_port: 60025                       
    	  difop_recv_port: 60026                      
    	  difop_send_port: 60026       
    	  point_cloud_send_ip: 192.168.1.202                   
    	  packet_send_ip: 192.168.1.202 

  • Bpearl 2

    - driver:
          lidar_type: RSBP             #LiDAR type - RS16, RS32, RSBP, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, 
                                       #             RSM1, RSM1_JUMBO, RSM2, RSE1
          msop_port: 2010              #Msop port of lidar
          difop_port: 2011             #Difop port of lidar
          start_angle: 0               #Start angle of point cloud
          end_angle: 360               #End angle of point cloud 
          wait_for_difop: true
          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
          pcap_path: /home/robosense/lidar.pcap #The path of pcap file
        ros:
          ros_frame_id: rslidar_right                           #Frame id of packet message and point cloud message
          ros_recv_packet_topic: /right/rslidar_packets          #Topic used to receive lidar packets from ROS
          ros_send_packet_topic: /right/rslidar_packets          #Topic used to send lidar packets through ROS
          ros_send_point_cloud_topic: /right/rslidar_points      #Topic used to send point cloud through ROS
          
          proto:
          point_cloud_recv_port: 60027                     
          point_cloud_send_port: 60027                     
          msop_recv_port: 60028                       
          msop_send_port: 60028                       
          difop_recv_port: 60029                      
          difop_send_port: 60029       
          point_cloud_send_ip: 192.168.1.204                 
          packet_send_ip: 192.168.1.204

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Multi LiDAR를 위한 FutureDrive ROS2 NIRO 코드 셋팅

Multi LiDAR를 위한 FutureDrive ROS2 NIRO 코드 셋팅

• 압축 파일명: future_ros2.zip

sensor_kit.xacro

• Left, right LiDAR 추가로 인한 left, right frame_id 추가

<xacro:VLP-16  
      parent="sensor_kit_base_link"  
      name="rslidar_left"  
      topic="/left/rslidar_points"  
      hz="10"  
      samples="220"  
      gpu="false"  
    >  
      <origin  
        xyz="${calibration['sensor_kit_base_link']['rslidar_left_base_link']['x']}  
             ${calibration['sensor_kit_base_link']['rslidar_left_base_link']['y']}  
             ${calibration['sensor_kit_base_link']['rslidar_left_base_link']['z']}"  
        rpy="${calibration['sensor_kit_base_link']['rslidar_left_base_link']['roll']}  
             ${calibration['sensor_kit_base_link']['rslidar_left_base_link']['pitch']}  
             ${calibration['sensor_kit_base_link']['rslidar_left_base_link']['yaw']}"  
      />  
    </xacro:VLP-16>

sensor_kit_calibration.yaml

• 각 frame_id와 base_link 간 연결 관계 추가

rslidar_left_base_link:
	x: 0.0
	y: 0.629
	z: 0.42
	roll: -1.396267
	pitch: 0.0
	yaw: 0.0

robosense_lidar_node.launch.py

• concatenate_data node 추가

nodes.append(
        ComposableNode(
            package="pointcloud_preprocessor",
            plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
            name="concatenate_data",
            remappings=[("output", "concat_3lidars/pointcloud")],
            parameters=[{
	            "input_topics": [
					"pointcloud_raw_ex","/left/rslidar_points","/right/rslidar_points",
					],
				"output_frame": LaunchConfiguration("base_frame"),
				}],
            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
        )
    )

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