启动两个80线的速腾雷达

约定不等于承诺〃 2022-12-24 04:58 155阅读 0赞

启动两个及以上的速腾雷达的方法。  
参考连接：[https://github.com/RoboSense-LiDAR/rslidar\_sdk/blob/release/doc/howto/how\_to\_use\_multi\_lidars\_cn.md][https_github.com_RoboSense-LiDAR_rslidar_sdk_blob_release_doc_howto_how_to_use_multi_lidars_cn.md]

#******************************************************************************
     # Copyright 2020 RoboSense All rights reserved.
     # Suteng Innovation Technology Co., Ltd. www.robosense.ai
    
     # This software is provided to you directly by RoboSense and might
     # only be used to access RoboSense LiDAR. Any compilation,
     # modification, exploration, reproduction and redistribution are
     # restricted without RoboSense's prior consent.
    
     # THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESSED OR IMPLIED
     # WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
     # OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
     # DISCLAIMED. IN NO EVENT SHALL ROBOSENSE BE LIABLE FOR ANY DIRECT,
     # INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
     # (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
     # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
     # HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
     # STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
     # IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     # POSSIBILITY OF SUCH DAMAGE.
    #****************************************************************************/
    common:
      msg_source: 1                                         #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
                                                           #true: Send point cloud through ROS or ROS2                           #5: point cloud comes from Protobuf-UDP
      send_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 ROS2
      send_packet_proto: false                              #true: Send packets through Protobuf-UDP
      send_point_cloud_proto: false                         #true: Send point cloud through Protobuf-UDP
      pcap_path: /home/robosense/lidar.pcap                 #The path of pcap file
    
    lidar:
      - driver:
          lidar_type: RS80            #The lidar type - RS16, RS32, RSBP, RS128, RS80
          frame_id: /rslidar           #The frame id of message
          device_ip: 192.168.1.200     #The device ip address
          msop_port: 6699              #The msop port of lidar,default is 6699
          difop_port: 7788             #The difop port of lidar, default is 7788
          start_angle: 0               #The start angle of point cloud area
          end_angle: 360               #The end angle of point cloud area
          min_distance: 0.2            #The minimum distance of point cloud area
          max_distance: 200            #The maximum distance of point cloud area
          use_lidar_clock: true       #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestamp
          angle_path: /home/robosense/angle.csv   #The path of the angle calibration file. For the latest version lidars, there is no need to use this file.
        ros:
          ros_recv_packet_topic: /right/rslidar_packets    #The topic which used to receive lidar packets from ROS
          ros_send_packet_topic: /right/rslidar_packets    #The topic which used to send lidar packets through ROS
          ros_send_point_cloud_topic: /right/rslidar_points      #The topic which used to send point cloud through ROS
        proto:
          point_cloud_recv_port: 60021                     #The port number used for receiving point cloud
          point_cloud_send_port: 60021                     #The port number which the point cloud will be send to
          point_cloud_send_ip: 127.0.0.1                   #The ip address which the point cloud will be send to
          msop_recv_port: 60022                       #The port number used for receiving lidar msop packets
          difop_recv_port: 60023                      #The port number used for receiving lidar difop packets
          msop_send_port: 60022                       #The port number which the msop packets will be send to
          difop_send_port: 60023                      #The port number which the difop packets will be send to
          packet_send_ip: 127.0.0.1                   #The ip address which the lidar packets will be send to
      - driver:
          lidar_type: RS80            #The lidar type - RS16, RS32, RSBP, RS128, RS80
          frame_id: /rslidar           #The frame id of message
          device_ip: 192.168.2.200     #The device ip address
          msop_port: 1122              #The msop port of lidar,default is 6699
          difop_port: 3344             #The difop port of lidar, default is 7788
          start_angle: 0               #The start angle of point cloud area
          end_angle: 360               #The end angle of point cloud area
          min_distance: 0.2            #The minimum distance of point cloud area
          max_distance: 200            #The maximum distance of point cloud area
          use_lidar_clock: true       #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestamp
          angle_path: /home/robosense/angle.csv  #The path of the angle calibration file. For the latest version lidars, there is no need to use this file.
        ros:
          ros_recv_packet_topic: /left/rslidar_packets    #The topic which used to receive lidar packets from ROS
          ros_send_packet_topic: /left/rslidar_packets    #The topic which used to send lidar packets through ROS
          ros_send_point_cloud_topic: /left/rslidar_points      #The topic which used to send point cloud through ROS
        proto:
          point_cloud_recv_port: 60024                     #The port number used for receiving point cloud
          point_cloud_send_port: 60024                     #The port number which the point cloud will be send to
          point_cloud_send_ip: 127.0.0.1                   #The ip address which the point cloud will be send to
          msop_recv_port: 60025                       #The port number used for receiving lidar msop packets
          difop_recv_port: 60026                      #The port number used for receiving lidar difop packets
          msop_send_port: 60025                       #The port number which the msop packets will be send to
          difop_send_port: 60026                      #The port number which the difop packets will be send to
          packet_send_ip: 127.0.0.1                   #The ip address which the lidar packets will be send to

[https_github.com_RoboSense-LiDAR_rslidar_sdk_blob_release_doc_howto_how_to_use_multi_lidars_cn.md]: https://github.com/RoboSense-LiDAR/rslidar_sdk/blob/release/doc/howto/how_to_use_multi_lidars_cn.md