Author: Yutong
- Add group multicast function
- Add truncate 3D angle area data
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
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
The lslidar_c16 package is a linux ROS driver for lslidar c16.
The package is tested on Ubuntu 14.04 with ROS indigo.
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
Parameters
device_ip (string, default: 192.168.1.200)
By default, the IP address of the device is 192.168.1.200.
frame_id (string, default: laser)
The frame ID entry for the sent messages.
Published Topics
lslidar_packets (lslidar_c16_msgs/LslidarC16Packet)
Each message corresponds to a lslidar packet sent by the device through the Ethernet.
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 additionally send out a local point cloud consisting of the points in each revolution.
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.
Node
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.
首先连接雷达网线和电源线，根据雷达设置目标IP设置电脑有线连接IP地址（默认为192.168.1.102），当电脑有线网络衔接正常后，测试是否可以ping通，之后在通过
sudo tcpdump -n -i eth0
eth0为有线网络设备名，如果最后为1206个字节，则表示雷达数据发送正常
创建ros工作空间，并在src文件夹下下载驱动
git clone https://github.com/zhangzhouyuan/lslidar_c16
编译
roslaunch lslidar_c16_decoder c16.launch
备注：若修改了雷达目的端口及转速，请打开 lslidar_c16.launch 进行相应的修改配置，默认端口为 2368，转速为 10HZ 即 point_num 为 2000 点。