镭神c16激光雷达使用及适配Autoware
贴个链接:https://www.ncnynl.com/archives/201810/2762.html
创建工作空间
mkdir -p ~/lslidar_ws/src
下载激光雷达驱动
cd ~/lslidar_ws/src
git clone https://github.com/tongsky723/lslidar_C16.git
编译
cd ~/lslidar_ws
catkin_make
添加环境变量
echo "source ~/lslidar_ws/devel/setup.bash" >> ~/.bashrc
创建RVIZ文件
sudo gedit ~/lslidar_ws/src/lslidar_c16/lslidar_c16_decoder/launch/lslidar_c16.rviz
添加以下内容
Panels:
- Class: rviz/Displays
Help Height: 89
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /PointCloud21
- /PointCloud21/Autocompute Value Bounds1
- /Axes1
Splitter Ratio: 0.5
Tree Height: 733
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 10
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 20
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 135.535004
Min Value: -69.2572021
Value: false
Axis: X
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 226
Min Color: 0; 0; 0
Min Intensity: 1
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 255
Selectable: true
Size (Pixels): 2
Size (m): 0.00999999978
Style: Points
Topic: /rslidar_points
Unreliable: true
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.100000001
Reference Frame: <Fixed Frame>
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: rslidar
Frame Rate: 10
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 49.6928291
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 4.06498575
Y: -10.8205557
Z: -2.45250994e-05
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.14480078
Target Frame: aft_mapped
Value: ThirdPersonFollower (rviz)
Yaw: 4.18355608
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1027
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000377fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000377000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000394fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000394000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000040fc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000037700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1855
X: 65
Y: 43
网络配置
激光雷达网线连接电脑并接入电源,进入ubuntu系统设置settings,配置有线网络参数,获取方式改为手动。
地址:192.168.1.102 掩码:255.255.255.0
网关:192.168.1.1 DNS:223.5.5.5
配置完成后打开终端输入:ping 192.168.1.200
如上所示则为雷达发送数据正常
注:虚拟机网络配置需将虚拟机网络适配器改为桥接再设置网络参数
启动程序
source ~/lslidar_ws/devel/setup.bash
roslaunch lslidar_c16_decoder lslidar_c16.launch
启动RVIZ
rviz
修改Fixed Frame为laser_link
添加话题lslidar_point_cloud下pointcloud2可查看点云
适配Autoware
由于Autoware默认使用velodyne激光雷达,参考系使用velodyne;点云话题为points_raw。需要将/lslidar/src/lslidar_C16/lslidar_c16_decoder/launch/lslidar_c16.launch文件中的frame id由laser_link修改为velodyne,将原话题lslidar_point_cloud转化为points_raw,即添加一行
<remap from="lslidar_point_cloud" to="/points_raw" />
如下图所示。
打开RVIZ后将fixed frame改为velodyne,添加话题points_raw下的pointcloud2可查看点云。