寻找IP
使用wireshark
改config
注意端口和雷达类型
adlab11@adlab11-desktop:~$ mkdir workspace
adlab11@adlab11-desktop:~$ cd workspace/
adlab11@adlab11-desktop:~/workspace$ mkdir src
adlab11@adlab11-desktop:~/workspace$ ls
src
adlab11@adlab11-desktop:~/workspace$ cd src/
adlab11@adlab11-desktop:~/workspace/src$ ls
adlab11@adlab11-desktop:~/workspace/src$
adlab11@adlab11-desktop:~/workspace/src$ git clone https://gitee.com/loran_luo/rslidar_sdk.git
Cloning into 'rslidar_sdk'...
remote: Enumerating objects: 341, done.
remote: Total 341 (delta 0), reused 0 (delta 0), pack-reused 341
Receiving objects: 100% (341/341), 6.83 MiB | 2.72 MiB/s, done.
Resolving deltas: 100% (62/62), done.
adlab11@adlab11-desktop:~/workspace/src$ cd ..
adlab11@adlab11-desktop:~/workspace$ catkin_make
Base path: /home/adlab11/workspace
Source space: /home/adlab11/workspace/src
Build space: /home/adlab11/workspace/build
Devel space: /home/adlab11/workspace/devel
Install space: /home/adlab11/workspace/install
Creating symlink "/home/adlab11/workspace/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/adlab11/workspace/src -DCATKIN_DEVEL_PREFIX=/home/adlab11/workspace/devel -DCMAKE_INSTALL_PREFIX=/home/adlab11/workspace/install -G Unix Makefiles" in "/home/adlab11/workspace/build"
####
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/adlab11/workspace/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/adlab11/workspace/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - rslidar_sdk
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'rslidar_sdk'
-- ==> add_subdirectory(rslidar_sdk)
=============================================================
-- POINT_TYPE is XYZI
=============================================================
=============================================================
-- ROS Found. ROS Support is turned On.
=============================================================
=============================================================
-- ROS2 Not Found. ROS2 Support is turned Off.
=============================================================
common:
msg_source: 1 #0: not use Lidar
#1: packet message comes from online Lidar
#2: packet message comes from ROS or ROS2
#3: packet message comes from Pcap file
send_packet_ros: false #true: Send packets through ROS or ROS2(Used to record packet)
send_point_cloud_ros: true #true: Send point cloud through ROS or ROS2
lidar:
- driver:
lidar_type: RS32 #LiDAR type - RS16, RS32, RSBP, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48,
# RSM1, RSM1_JUMBO, RSM2, RSE1, RSMX.
msop_port: 2370 #2371 #6699 #Msop port of lidar
difop_port: 8310 #8311 #7788 #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
"src/rslidar_sdk/config/config.yaml" 26L, 1928C 1,1 Top
common:
=============================================================
-- CMake run for UNIX GNU Compiler
=============================================================
=============================================================
-- rs_driver Version : v1.5.13
=============================================================
-- Configuring done
-- Generating done
-- Build files have been written to: /home/adlab11/workspace/build
####
#### Running command: "make -j16 -l16" in "/home/adlab11/workspace/build"
####
Scanning dependencies of target rslidar_sdk_node
[ 33%] Building CXX object rslidar_sdk/CMakeFiles/rslidar_sdk_node.dir/node/rslidar_sdk_node.cpp.o
[ 66%] Building CXX object rslidar_sdk/CMakeFiles/rslidar_sdk_node.dir/src/manager/node_manager.cpp.o
[100%] Linking CXX executable /home/adlab11/workspace/devel/lib/rslidar_sdk/rslidar_sdk_node
[100%] Built target rslidar_sdk_node
adlab11@adlab11-desktop:~/workspace$ vim src/rslidar_sdk/
~
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"run_rssss.sh" [New File] 0,0-1 All
source devel/setup.bash
CHANGELOG.md create_debian.sh .gitmodules node/ README_CN.md
.clang-format doc/ img/ package_ros1.xml README.md
CMakeLists.txt .git/ launch/ package_ros2.xml rviz/
config/ .gitignore LICENSE package.xml src/
adlab11@adlab11-desktop:~/workspace$ vim src/rslidar_sdk/config/config.yaml
adlab11@adlab11-desktop:~/workspace$
adlab11@adlab11-desktop:~/workspace$
adlab11@adlab11-desktop:~/workspace$ catkin_make
Base path: /home/adlab11/workspace
Source space: /home/adlab11/workspace/src
Build space: /home/adlab11/workspace/build
Devel space: /home/adlab11/workspace/devel
Install space: /home/adlab11/workspace/install
####
#### Running command: "make cmake_check_build_system" in "/home/adlab11/workspace/build"
####
####
#### Running command: "make -j16 -l16" in "/home/adlab11/workspace/build"
####
[100%] Built target rslidar_sdk_node
adlab11@adlab11-desktop:~/workspace$
adlab11@adlab11-desktop:~/workspace$
adlab11@adlab11-desktop:~/workspace$ vim run_rssss.sh
adlab11@adlab11-desktop:~/workspace$
adlab11@adlab11-desktop:~/workspace$
adlab11@adlab11-desktop:~/workspace$
