RS32 point cloud looks flat
Closed this issue · 9 comments
this is how it looks like when I run sdk in ubuntu ros.
The config is list below.
Please help me out.
angle.csv
Please add the angle path parameter in your config file. You can find the detailed information about "angle path" parameter in driver "hidden_parameter_intro" file.
The angle.csv file is attached
Thanks for your support. I try this csv in my path then the point cloud change to this below.
My config.yaml is list below:
common:
msg_source: 1 #0: not use Lidar
#1: packet message comes from online Lidar
#2: packet message comes from ROS or ROS2
#3: packet message comes from Pcap file
#4: packet message comes from Protobuf-UDP
#5: point cloud comes from Protobuf-UDP
send_packet_ros: false #true: Send packets through ROS or ROS2(Used to record packet)
send_point_cloud_ros: true #true: Send point cloud through ROS or ROS2
send_packet_proto: false #true: Send packets through Protobuf-UDP
send_point_cloud_proto: false #true: Send point cloud through Protobuf-UDP
pcap_path: /home/robosense/lidar.pcap #The path of pcap file
lidar:
- driver:
lidar_type: RS32 #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS
frame_id: /rslidar #Frame id of message
msop_port: 6699 #Msop port of lidar
difop_port: 7788 #Difop port of lidar
start_angle: 0 #Start angle of point cloud
end_angle: 360 #End angle of point cloud
min_distance: 0.2 #Minimum distance of point cloud
max_distance: 200 #Maximum distance of point cloud
use_lidar_clock: false #True--Use the lidar clock as the message timestamp
#False-- Use the system clock as the timestamp
angle_path: /home/cdp/ws_lidar/src/rslidar_sdk/config/angle.csv
split_frame_mode: 1
cut_angle: 0
num_pkts_split: 1
wait_for_difop: true
saved_by_rows: false
multi_cast_address: 0.0.0.0
x: 0
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
ros:
ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
ros_send_point_cloud_topic: /rslidar_points #Topic used to send point cloud through ROS
proto:
point_cloud_recv_port: 60021 #Port number used for receiving point cloud
point_cloud_send_port: 60021 #Port number which the point cloud will be send to
msop_recv_port: 60022 #Port number used for receiving lidar msop packets
msop_send_port: 60022 #Port number which the msop packets will be send to
difop_recv_port: 60023 #Port number used for receiving lidar difop packets
difop_send_port: 60023 #Port number which the difop packets will be send to
point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to
packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to
I think it still doesn't work normally. Please help?
Can I ask if you were playing with the RS-Helios (New 32 beam) or RS-32 (old 32 beam) unit?
Can I please have your SN number?
Im using the old 32 beam and SN is161181401417
It seems like this lidar is faulty, please try run this lidar in the RS-View software and if the performance is still the same, please contact our sales manager for fix/replacement issue.
There is no points in the RSview. But I can still see points in ros sdk. Is there something wrong in my config of RSview?
Three csv files are also in this dir
Please select RSlidar32. You also need to make sure your port is set correctly. (Tools -> data port setting)
Now points cloud looks like this.
I found a fault diagnosis and result like this
Please contact our sales manager for fix/replacement issues.