/lslidar_C16

Source code of lslidar C16 for ROS

Primary LanguageC++

[toc]

lslidar_c16

The lslidar_c16 package is a linux ROS driver for lslidar c16 from Shenzhen Leishen Intelligence System Co, Ltd.

This package is tested on Ubuntu 14.04 with ROS indigo and Ubuntu 16.04 with ROS kinetic.

Compling

This is a Catkin package. Make sure the package is on ROS_PACKAGE_PATH after cloning the package to your workspace. And the normal procedure for compling a catkin package will work.

cd your_work_space
catkin_make

ROS

lslidar_c16_driver

Parameters

  • lidar_ip (string, default: 192.168.1.200) By default, the IP address of the device is 192.168.1.200.

  • device_port (int, default: 2368) By default, the Port address of the device is 2368.

  • frame_id (string, default: laser) The frame ID entry for the sent messages.

  • add_multicast (bool, default: false) Whether using group multicast or not

  • group_ip (string, default: 234.2.3.2) The group IP address of the device. Only useful when setting add_multicast to true

Published Topics

  • lslidar_packets (lslidar_c16_msgs/LslidarC16Packet) Each message corresponds to a lslidar packet sent by the device through the Ethernet.

lslidar_c16_decoder

Parameters

  • min_range (double, 0.15)

  • max_range (double, 150.0) Points outside this range will be removed.

  • frequency (frequency, 10.0) Note that the driver does not change the frequency of the sensor.

  • publish_point_cloud (bool, true) If set to true, the decoder will send out a full revolution point cloud data

  • use_gps_ts (bool, false) If set to true, the decoder synchronized with GPS timestamp

Published Topics

  • lslidar_sweep (lslidar_c16_msgs/LslidarC16Sweep) The message arranges the points within each sweep based on its scan index and azimuth.

  • lslidar_point_cloud (sensor_msgs/PointCloud2) This is only published when the publish_point_cloud is set to true in the launch file.

  • angle3_disable_min (double, -1) Ignore 3D point cloud data from angle3_disable_min to angle3_disable_max; Default -1 means disable this function; Value should from 0 to 2*pi

  • angle3_disable_max (double, -1) Ignore 3D point cloud data from angle3_disable_min to angle3_disable_max; Default -1 means disable this function; Value should from 0 to 2*pi

Usage

Before running lslidar-c16 driver, make sure you set up IP address correctly. Using following command to check if device is communicating. Replace eth0 with your correct computer network interface

sudo tcpdump -i eth0

Running following commmand to launch lslidar c16 driver

roslaunch lslidar_c16_decoder lslidar_c16.launch --screen

Note that this launch file launches both the driver and the decoder, which is the only launch file needed to be used.

FAQ

Cannot open UDP port...

Make Sure your IP setting for bot device IP and computer IP is correct. Default device IP is 192.168.1.200 and port is 2368. Default computer IP is 192.168.1.102

lslidar poll() timeout

Make Sure your IP setting for bot device IP and computer IP is correct. Default device IP is 192.168.1.200 and port is 2368. Default computer IP is 192.168.1.102

version track

Author: Yutong

ver1.2 Yutong

  1. Add group multicast function
  2. Add truncate 3D angle area data

ver1.1 Yutong

Using new message type to distinguish different channel data

  • topic name: scan_channel
  • topic type: LslidarC16Layer
  • details: LslidarC16Layer is consist of 16 sets data for different channel, each set of data is represented by Sensor_msgs/LaserScan rosmessage type

Usage:

rostopic echo /scan_channel  will output all 16 channels data
rostopic echo /scan_channel/scan_channel[*]  (* can be from 0 to 15 represents channel num)  --> output data will be sensor_msgs/LaserScan message type

Example: There is an example script to show you how to obtain each channel data, located at /lslidar_c16_decoder/scripts/Test_MultiChannel.py You will need python package numpy and matplotlib.pyplot(optional) to fully run this script

ver1.05 Yutong

Using rostopic to select the channel you wish to output topic name: layer_num topic type: std_msgs/Int8 details: send layer number to topic layer_num Usage: rostopic pub /layer_num std_msgs/Int8 "data: 5" --> output channel 5 data to topic /scan, message type is sensor_msgs/LaserScan . data number can only from 0 to 15