LEGO_LOAM robosense 16线激光雷达试验

LEGO_LOAM robosense 16线激光雷达试验

1、配置雷达IP

把工控机端的IP地址设为：192.168.1.102

2、根据激光雷达的样式，修改相应的代码

(1)生成新的launch文件

<launch>
    
    <!--- Sim Time -->
    <param name="/use_sim_time" value="true" />
    <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
    
    <!-- Run a passthrough filter to clean NaNs -->
  <node pkg="nodelet" type="nodelet" name="passthrough" args="load pcl/PassThrough pcl_manager" output="screen">
    <remap from="~input" to="/rslidar_points" />
    <remap from="/passthrough/output" to="/velodyne_points" />
    
    <rosparam>
      filter_field_name: z
      filter_limit_negative: True
    </rosparam>
 
   <rosparam>
      filter_field_name: x
      filter_limit_negative: True
    </rosparam>
 
   <rosparam>
      filter_field_name: y
      filter_limit_negative: True
    </rosparam>
   </node>
 
    <!--- Run Rviz-->
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find lego_loam)/launch/test.rviz" />
 
    <!--- TF -->
    <node pkg="tf" type="static_transform_publisher" name="camera_init_to_map"  args="0 0 0 1.570795   0        1.570795 /map    /camera_init 10" />
    <node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0 0 0 -1.570795 -1.570795 0        /camera /base_link   10" />
 
    <!--- 根据雷达和小车相对位置确定 -->
    <!--node pkg="tf" type="static_transform_publisher" name="base_link_to_velodyne" args="0 0 0 0 0 0      /base_link  /velodyne 10" /-->  
 
    <!--- LeGO-LOAM -->    
    <node pkg="lego_loam" type="imageProjection"    name="imageProjection"    output="screen"/>
    <node pkg="lego_loam" type="featureAssociation" name="featureAssociation" output="screen"/>
    <node pkg="lego_loam" type="mapOptmization"     name="mapOptmization"     output="screen"/>
    <node pkg="lego_loam" type="transformFusion"    name="transformFusion"    output="screen"/>
 
</launch>

（2）把utlity.h中的extern const bool useCloudRing改为false

3、实地试验

（1）运行 roslaunch rslidar_pointcloud rslidar_16.launch启动激光雷达

（2）运行 roslaunch rslidar_run.launch 开始建图定位

（3）结果展示