rs_driver

中文介绍

1 Introduction

rs_driver is the driver kernel for the RoboSense LiDARs.

2 Supported LiDARs

Below are the supported LiDARS.

RS-LiDAR-16
RS-LiDAR-32
RS-Bpearl
RS-Bpearl-V4
RS-Helios
RS-Helios-16P
RS-Ruby-128
RS-Ruby-80
RS-Ruby-48
RS-Ruby-Plus-128
RS-Ruby-Plus-80
RS-Ruby-Plus-48
RS-LiDAR-M1

3 Supported Platforms

rs_driver is compatible with the following platforms and compilers. Note the compiler should support C++ 14.

Ubuntu (16.04, 18.04)
- gcc (4.8+)
Windows
- MSVC ( tested with Win10 / VS2019)

4 Dependency Libraries

rs_driver depends on the following third-party libraries. Please install them before compiling rs_driver.

libpcap (optional, needed to parse PCAP file)
Eigen3 (optional, needed to use the internal transformation function)
PCL (optional, needed to build the visualization tool)
Boost (optional, needed to build the visualization tool)

5 Compile On Ubuntu

5.1 Dependency Libraries

sudo apt-get install libpcap-dev libeigen3-dev libboost-dev libpcl-dev

5.2 Compilation

cd rs_driver
mkdir build && cd build
cmake .. && make -j4

5.3 Installation

sudo make install

5.4 Use rs_driver as a third party library

In your CMakeLists.txt, find the rs_driver package and link to it .

find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(your_project ${rs_driver_LIBRARIES})

5.5 Use rs_driver as a submodule

Add rs_driver into your project as a submodule.

In your CMakeLists.txt, find the rs_driver package and link to it .

add_subdirectory(${PROJECT_SOURCE_DIR}/rs_driver)
find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(your_project ${rs_driver_LIBRARIES})

6 Compile On Windows

6.1 Dependency Libraries

libpcap

Install libpcap runtime library.

Unzip libpcap's developer's pack to your favorite location, and add the path to the folder WpdPack_4_1_2/WpdPack to the environment variable PATH .

PCL

To compile with VS2019, please use the official installation package PCL All-in-one installer.

Select the "Add PCL to the system PATH for xxx" option during the installation.

6.2 Installation

Installation is not supported on Windows.

7 Quick Start

rs_driver offers two demo programs in rs_driver/demo.

demo_online.cpp
demo_pcap.cpp

Please refer to them for usage of the rs_driver API.

demo_pcap is based on libpcap.

To build demo_online and demo_pcap, enable the option COMPILE_DEMOS when configure the project.

cmake -DCOMPILE_DEMOS=ON ..

For more info about how to decode an online Lidar, Please refer to Decode online LiDAR

For more info about how to decode a PCAP file, Please refer to Decode pcap file

8 Visualization of Point Cloud

rs_driver offers a visualization tool rs_driver_viwer in rs_driver/tool , which is based on PCL.

To build it, enable the option CMOPILE_TOOLS when configuring the project.

cmake -DCOMPILE_TOOLS=ON ..

For more info about how to use the rs_driver_viewer, please refer to Visualization tool guide

9 More Topics

For more topics, Please refer to:

Trasformation function: Transformation guide Online Lidar - Advanced topics: Online LiDAR - Advanced Topics PCAP file - Advanced topics: PCAP file - Advanced Topics

For more info about the rs_driver API, Please refer to:

Point Cloud message definition: rs_driver/src/rs_driver/msg/point_cloud_msg.hpp, rs_driver/src/rs_driver/msg/pcl_point_cloud_msg.hpp
API definition: rs_driver/src/rs_driver/api/lidar_driver.hpp
Parameters definition: rs_driver/src/rs_driver/driver/driver_param.hpp,
Error code definition: rs_driver/src/rs_driver/common/error_code.hpp

alex-arnal/rs_driver