参考自大神博客:https://blog.csdn.net/adamshan/article/details/82901295
激光雷达:zvisionML-30(100线)
电脑环境配置:Ubuntu 16.04+ROS-kinect
1、Configure PC IP
By default, the zvision LiDAR ML30 is configured to “192.168.10.108” as its device IP and
“255.255.255.255” as destination IP.
You need configure your PC IP as a static one in the same subnet, for example
“192.168.10.10”.
2、根据用户手册,编译功能包
3、新建一个功能包(pcl_test),具体参考https://blog.csdn.net/adamshan/article/details/82901295,编译
4、启动激光雷达的launch文件,启动pcl_test的launch文件
5、节点通讯图如下:
可以看到,节点pcl_test_node对激光雷达的话题/zvision_lidar_points中的消息进行处理(本例为体素滤波),然后发布话题/filtered_points,该话题中的消息就是滤波之后的点云数据
二者比较