1、 獲取pcap包參數

??????? 讀取pcap包數據獲取其中的msop端口號和difop端口號，默認值為msop-6699, difop-7788。

使用wireshark打開pcap包。

??????? 下圖中的6690為msop端口號

????????在上面的過濾框中輸入 data:data[0:1] == a5，出現如下圖的結果，其中的7779為difop端口號。

?2、 config文件配置

??????? config配置文件具體如下所示：

common:msg_source: 3 #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-UDPsend_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 ROS2send_packet_proto: false #true: Send packets through Protobuf-UDPsend_point_cloud_proto: false #true: Send point cloud through Protobuf-UDPpcap_path: /home/robosense/data/data.pcap #The path of pcap filelidar:- driver:lidar_type: RSM1 #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOSframe_id: /rslidar #Frame id of messagemsop_port: 6690 #Msop port of lidardifop_port: 7779 #Difop port of lidarstart_angle: 0 #Start angle of point cloudend_angle: 360 #End angle of point cloud min_distance: 0.2 #Minimum distance of point cloudmax_distance: 200 #Maximum distance of point clouduse_lidar_clock: false #True--Use the lidar clock as the message timestamp#False-- Use the system clock as the timestamp ros:ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROSros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROSros_send_point_cloud_topic: /rslidar #Topic used to send point cloud through ROSproto: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 tomsop_recv_port: 60022 #Port number used for receiving lidar msop packetsmsop_send_port: 60022 #Port number which the msop packets will be send to difop_recv_port: 60023 #Port number used for receiving lidar difop packetsdifop_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

總結

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