速腾聚创16线激光雷达rslidar-16的在ubuntu下驱动安装

1 安装

(1). Copy the whole rslidar ROS driver directory into ROS workspace, i.e “~/catkin_ws/src”.

cd ~/catkin_ws/src
git clone https://github.com/BluewhaleRobot/ros_rslidar_robosense.git

(2). Check the file attributes:

cd ~/catkin_ws/src/ros_rslidar/rslidar_drvier
chmod 777 cfg/*
cd ~/catkin_ws/src/ros_rslidar/rslidar_pointcloud
chmod 777 cfg/*

(3). Then to compile the source code and to install it:

cd ~/catkin_ws
catkin_make

2 设置计算机IP

默认的device IP： 192.168.1.200 PC IP： 192.168.1.102
默认MSOP port is 6699 while DIFOP port is 7788.
需要做的是将计算机静态IP设置为 192.168.1.102.

3 启动节点

启动并显示

 cd ~/catkin_ws
 source devel/setup.bash
 roslaunch rslidar_pointcloud rs_lidar_16.launch

仅启动

 cd ~/catkin_ws
 source devel/setup.bash
 roslaunch rs