1.到github下载官方驱动文件和编译文件:https://github.com/HesaiTechnology/Pandar40p_ros
2.安装catkin_tools:
sudo apt-get update
sudo apt-get install python-catkin-tools
3.建立ros工作空间:
mkdir -p rosworkspace/src
cd rosworkspace/src
4.下载驱动代码到/src目录下:
git clone https://github.com/HesaiTechnology/Pandar40P.git
5.在代码文件目录下建立config文件夹:
cd Pandar40p_ros/
mkdir config
6.将激光雷达的矫正文件correction.csv拷贝到config目录下;
7.安装ros相关依赖项:
cd ../..
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
8.在rosworkspace/下编译:
catkin config --install
catkin build --force-cmake
9.运行驱动:
source install/setup.bash
roslaunch pandar40p pandar40p_driver.launch
若运行成功应该显示如下界面:
10.将雷达的网线接口通过网线与电脑连接起来并设置静态ip:
sudo ifconfig eth0 192.168.1.100
11.断开重连,在浏览器输入192.168.1.201/index.html,测试雷达与电脑是否连接成功,若成功的话应该显示如下界面:
12.查看当前激光雷达所使用的网络端口:
sudo netstat -tlp | grep pandar40p_nod
13.修改雷达驱动的参数值:
rosparam set /pandar40p/pandar40p_ip 192.168.1.100
rosparam set /pandar40p/lidar_recv_port 雷达端口
14.查看雷达信息是否接收成功:
rostopic echo pandar40p/sensor/pandar40p/hesai40/PointCloud2