環境:
1、Robosense 16線激光雷達;
2、筆記本電腦;
3、Ubuntu 16.04;
4、ROS Kinetic。
安裝依賴項
sudo apt-get install libpcap-dev
下載源碼到工作目錄的src/文件夾下
cd ~/catkin_ws/src
git clone https://github.com/RoboSense-LiDAR/ros_rslidar
修改權限
cd ~/catkin_ws/src/ros_rslidar/rslidar_drvier
chmod 777 cfg/*
cd ~/catkin_ws/src/ros_rslidar/rslidar_pointcloud
chmod 777 cfg/*
編譯
cd ~/catkin_ws
catkin_make
設置電腦的靜態ip地址
sudo gedit /etc/networsk/interfaces
設置eth0(有些是eth1,或者eno0等,根據自己的網口修改)
# interfaces eth0 for rslidar connect
auto eth0
iface eth0 inet static
address 192.168.1.102
netmask 255.255.255.0
gateway 192.168.1.1
連接雷達電源和網線,重啓電腦。
cd catkin_ws
source devel/setup.bash
roslaunch rslidar_pointcloud rs_lidar_16.launch
可以在RVIZ中看到點雲。