C16雷神雷达采集点云数据问题汇总

ubuntu18.04  pcl1.8.1+ros

1.执行命令

mkdir -p ~/lslidar_ws/src   #创建工作空间
cd ~/lslidar_ws/src
#把驱动压缩包拷贝到src目录下，并解压   
git clone -b C16_V2.6/2.8/3.0 https://github.com/Lslidar/Lslidar_ROS1_driver.git #官方的SDK
cd ~/lslidar_ws
catkin_make

问题一：没有安装ros-pcl

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "pcl_ros" with any
  of the following names:

    pcl_rosConfig.cmake
    pcl_ros-config.cmake

  Add the installation prefix of "pcl_ros" to CMAKE_PREFIX_PATH or set
  "pcl_ros_DIR" to a directory containing one of the above files.  If
  "pcl_ros" provides a separate development package or SDK, be sure it has
  been installed

解决：有时网络无法连接package.ros.org，多试几次。

sudo apt-get update
sudo apt-get install ros-melodic-pcl-ros   #适用ubuntu18.04

问题二：boost文件报错

换头文件的读取方法。

问题三：打开rviz无法获取设备信息。

检查连接线是否在同一个网段，将雷达连接交换机。且luanch文件配置雷达ip。192.168.0.200。

配置主从机，主机（NX端），从机（PC端）。