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압축 파일명: bpearl_only_rslidar_sdk.zip
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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
- Bpearl 1