环境:
1、Robosense 16线激光雷达;32线也可以用此驱动,选择32线的launch文件就行
2、笔记本电脑;
3、Ubuntu 18.04;
4、ROS Melodic。
一、安装雷达驱动
1、下载源码
cd ~/catkin_ws/src
git clone https://github.com/RoboSense-LiDAR/ros_rslidar
2、安装libpcap-dev
sudo apt-get install libpcap-dev
3、更改源码属性
cd ~/catkin_ws/src/ros_rslidar/rslidar_drvier
chmod 777 cfg/*
cd ~/catkin_ws/src/ros_rslidar/rslidar_pointcloud
chmod 777 cfg/*
4、catkin安装
cd ~/catkin_ws
catkin_make
5、将catkin_ws/src/ros_rslidar/rslidar_pointcloud/launch/rs_lidar_16.launch文件里的<arg name="device_ip" default="雷达ip" />改为自己的雷达ip,与雷达相连的工控机ip地址必须设置与雷达同一网段下