Robosense速騰激光雷達如何使用多雷達

1 簡介

本文將展示如何在僅運行一個驅動程序的情況解析并發送多臺雷達的點云。理論上，一個驅動可以同時解碼無限數量的雷達。為了方便起見，本文將會使用三個雷達作為示例。

2 在線解析多雷達

2.1 獲取數據端口號

首先將三個雷達與計算機正確連接，此時應已知每個LiDAR的msop端口號 與 difop端口號。 如果不清楚上述內容，請查看雷達用戶手冊。

2.2 設置參數文件的common部分

common:msg_source: 1 send_packet_ros: false send_point_cloud_ros: true send_packet_proto: false send_point_cloud_proto: false pcap_path: /home/robosense/lidar.pcap

由于消息來源于在線雷達，因此請設置msg_source=1。

將點云發送到ROS以查看，因此設置 send_point_cloud_ros = true 。

2.3 設置配置文件中的lidar部分

lidar:- driver:lidar_type: RS128 frame_id: /rslidar msop_port: 6699 difop_port: 7788 start_angle: 0 end_angle: 360 min_distance: 0.2 max_distance: 200 use_lidar_clock: false ros:ros_recv_packet_topic: /middle/rslidar_packets ros_send_packet_topic: /middle/rslidar_packets ros_send_point_cloud_topic: /middle/rslidar_points proto:point_cloud_recv_port: 60021 point_cloud_send_port: 60021 msop_recv_port: 60022 msop_send_port: 60022 difop_recv_port: 60023 difop_send_port: 60023 point_cloud_send_ip: 127.0.0.1 packet_send_ip: 127.0.0.1 - driver:lidar_type: RSBP frame_id: /rslidar msop_port: 1990 difop_port: 1991 start_angle: 0 end_angle: 360 min_distance: 0.2 max_distance: 200 use_lidar_clock: false ros:ros_recv_packet_topic: /left/rslidar_packets ros_send_packet_topic: /left/rslidar_packets ros_send_point_cloud_topic: /left/rslidar_points proto:point_cloud_recv_port: 60024 point_cloud_send_port: 60024 msop_recv_port: 60025 msop_send_port: 60025 difop_recv_port: 60026 difop_send_port: 60026 point_cloud_send_ip: 127.0.0.1 packet_send_ip: 127.0.0.1 - driver:lidar_type: RSBP frame_id: /rslidar msop_port: 2010 difop_port: 2011 start_angle: 0 end_angle: 360 min_distance: 0.2 max_distance: 200 use_lidar_clock: false ros:ros_recv_packet_topic: /right/rslidar_packets ros_send_packet_topic: /right/rslidar_packets ros_send_point_cloud_topic: /right/rslidar_points proto:point_cloud_recv_port: 60027 point_cloud_send_port: 60027 msop_recv_port: 60028 msop_send_port: 60028 difop_recv_port: 60029 difop_send_port: 60029 point_cloud_send_ip: 127.0.0.1 packet_send_ip: 127.0.0.1

為每個雷達類型設置型號lidar_type。

為每個雷達設置對應的端口號 msop_port 和difop_port 。

為每個雷達設置點云發送的話題ros_send_point_cloud_topic。

3 離線解析多雷達rosbag

3.1 設置配置文件中的common部分

common:msg_source: 2 send_packet_ros: false send_point_cloud_ros: true send_packet_proto: false send_point_cloud_proto: false pcap_path: /home/robosense/lidar.pcap

由于數據包消息來自ROS，因此設置 msg_source = 2 。

將點云發送到ROS，因此設置 send_point_cloud_ros = true。

3.2 設置配置文件中的lidar部分

lidar:- driver:lidar_type: RS128 frame_id: /rslidar msop_port: 6699 difop_port: 7788 start_angle: 0 end_angle: 360 min_distance: 0.2 max_distance: 200 use_lidar_clock: false ros:ros_recv_packet_topic: /middle/rslidar_packets ros_send_packet_topic: /middle/rslidar_packets ros_send_point_cloud_topic: /middle/rslidar_points proto:point_cloud_recv_port: 60021 point_cloud_send_port: 60021 msop_recv_port: 60022 msop_send_port: 60022 difop_recv_port: 60023 difop_send_port: 60023 point_cloud_send_ip: 127.0.0.1 packet_send_ip: 127.0.0.1 - driver:lidar_type: RSBP frame_id: /rslidar msop_port: 1990 difop_port: 1991 start_angle: 0 end_angle: 360 min_distance: 0.2 max_distance: 200 use_lidar_clock: false ros:ros_recv_packet_topic: /left/rslidar_packets ros_send_packet_topic: /left/rslidar_packets ros_send_point_cloud_topic: /left/rslidar_points proto:point_cloud_recv_port: 60024 point_cloud_send_port: 60024 msop_recv_port: 60025 msop_send_port: 60025 difop_recv_port: 60026 difop_send_port: 60026 point_cloud_send_ip: 127.0.0.1 packet_send_ip: 127.0.0.1 - driver:lidar_type: RSBP frame_id: /rslidar msop_port: 2010 difop_port: 2011 start_angle: 0 end_angle: 360 min_distance: 0.2 max_distance: 200 use_lidar_clock: false ros:ros_recv_packet_topic: /right/rslidar_packets ros_send_packet_topic: /right/rslidar_packets ros_send_point_cloud_topic: /right/rslidar_points proto:point_cloud_recv_port: 60027 point_cloud_send_port: 60027 msop_recv_port: 60028 msop_send_port: 60028 difop_recv_port: 60029 difop_send_port: 60029 point_cloud_send_ip: 127.0.0.1 packet_send_ip: 127.0.0.1

為每個雷達類型設置型號lidar_type。

為每個雷達設置接收的packet話題名ros_recv_packet_topic。

為每個雷達設置點云發送的話題ros_send_point_cloud_topic。

總結

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