雷神16线:
使用教程:https://blog.csdn.net/yunqiushuiman/article/details/119447705
驱动安装,安装其src包;
启动roslaunch lslidar_c16_decoder lslidar_c16.launch --screen
velodyne 16 VLP:
安装驱动:sudo apt-get install ros-melodic-velodyne
启动ros节点:roslaunch velodyne_pointcloud VLP16_points.launch
点云的topic是/velodyne_points (sensor_msgs/PointCloud2)
点云的压缩的topic 是/velodyne_packet (velodyne_msgs/VelodyneScan类型,网络流数据)
可以录制压缩点云,再播放时启动雷达驱动即可获得点云数据。