官方的安装和配置教程
GitHub - RoboSense-LiDAR/rslidar_sdk: RoboSense LiDAR SDK for ROS & ROS2
https://github.com/RoboSense-LiDAR/rs_driver
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
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
开启roscore以及运行./rslidar_sdk_node
打开出现改错误提示,则修改配置文件rslidar_sdk/config/config.yaml里的lidar_type,我的由RSM1修改为RSHELIOS_16P,重启电脑后生效。
终端开启rviz,即可查看点云可视化信息