1 安装
(1). Copy the whole rslidar ROS driver directory into ROS workspace, i.e “~/catkin_ws/src”.
cd ~/catkin_ws/src
git clone https://github.com/BluewhaleRobot/ros_rslidar_robosense.git
(2). Check the file attributes:
cd ~/catkin_ws/src/ros_rslidar/rslidar_drvier
chmod 777 cfg/*
cd ~/catkin_ws/src/ros_rslidar/rslidar_pointcloud
chmod 777 cfg/*
(3). Then to compile the source code and to install it:
cd ~/catkin_ws
catkin_make
2 设置计算机IP
默认的device IP: 192.168.1.200 PC IP: 192.168.1.102
默认MSOP port is 6699 while DIFOP port is 7788.
需要做的是将计算机静态IP设置为 192.168.1.102.
3 启动节点
启动并显示
cd ~/catkin_ws
source devel/setup.bash
roslaunch rslidar_pointcloud rs_lidar_16.launch
仅启动
cd ~/catkin_ws
source devel/setup.