#version v3.0.1_200619
Author: zx
The lslidar_c16
package is a linux ROS driver for lslidar c16.
The package is tested on Ubuntu 16.04 with ROS kinetic.
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
lidar_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_link
)
The frame ID entry for the sent messages.
Published Topics
lslidar_point_cloud
Each message corresponds to a lslidar packet sent by the device through the Ethernet.
Parameters
min_range
(double
, 0.3
)
max_range
(double
, 200.0
)
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/LslidarChSweep
)
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.
##Version changes /2020-01-03*****/ Original version : lslidar_c16_v2.02_190919 Revised version : lslidar_c16_v2.03_200103 Modify : Add a new calibration decode for the new lslidar c16 Author : zx Date : 2020-01-03
/2020-01-16*****/ Original version : lslidar_c16_v2.03_200103 Revised version : lslidar_c16_v2.6.0_200116 Modify : Adds the vertical Angle correction file lslidar_c16_db.yaml for the RoS program code Change the range resolution to 0.25cm according to the v2.6 protocol Author : zx Date : 2020-01-16
/2020-04-02*****/ Original version : lslidar_c16_v2.6.0_200116 Revised version : lslidar_c16_v2.6.1_200402 Modify : 1. 增加了读取设备包并解析垂直角度值的功能,用于替换原有固定的垂直角度值。 2. 修改了lslidar_c16.launch文件,用于兼容选择参数和功能 Author : zx Date : 2020-04-02
luanch文件说明: //cbMethod = true表示增加x,y坐标的偏移计算补偿, false则不加 //print_vert = true 表示打印设备包角度信息, false表示关闭打印信息 //config_vert_file = true 表示读取yaml文件中的垂直角度, false则关闭 //distance_unit = 0.25表示距离单位为0.25cm, = 1表示距离单位为1cm
/2020-06-06*/ Original version : lslidar_c16_v2.6.1_200402 Revised version : lslidar_c16_v3.0_200606 Modify : 1. 修改了读取设备包并解析垂直角度值和GPS时间的功能。
2. 增加了读取设备包并解析3号版版本号,用于兼容V2.0版本雷达。
Author : lqm Date : 2020-06-06
/2020-06-19*/ Original version : lslidar_c16_v3.0_200606 Revised version : lslidar_c16_v3.0.1_200619 Modify : 1. 点云校准距离计算方式更新。
Author : lqm Date : 2020-06-19