Ubuntu 18.04安装RoboSense-Helios_16P/rslidar_sdk及IP配置

 下载sdk和驱动

git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git 
cd rslidar_sdk/src
git clone https://github.com/RoboSense-LiDAR/rs_driver.git

 安装依赖libpcap

sudo apt-get install -y  libpcap-dev

打开工程内的CMakeLists.txt文件，将文件顶部的变量COMPILE_METHOD改为ORIGINAL. 

#=======================================
# Compile setup (ORIGINAL,CATKIN,COLCON)
#=======================================
set(COMPILE_METHOD ORIGINAL)

 编译

cd rslidar_sdk
mkdir build && cd build
cmake .. && make -j4

配置IP ，打开wireshark查看IP

sudo apt-get install wireshark
sudo wireshark

  

 雷达数据目的IP就是你电脑应该设置的IP，掩码如图

 

 打开新终端启动roscore，再启动节点，rviz查看点云数据

./rslidar_sdk_node
rviz