首页下载资源行业研究3.+LSLIDAR_CX_ROS_V4.3.1_240409.zip

ZIP3.+LSLIDAR_CX_ROS_V4.3.1_240409.zip

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资源文件列表:

3.+LSLIDAR_CX_ROS_V4.3.1_240409.zip 大约有574个文件
  1. lslidar_cx_driver/
  2. lslidar_cx_driver/LICENSE 560B
  3. lslidar_cx_driver/README.md 10.14KB
  4. lslidar_cx_driver/README_en.md 11KB
  5. lslidar_cx_driver/nodelets.xml 298B
  6. lslidar_cx_driver/CMakeLists.txt 2.95KB
  7. lslidar_cx_driver/package.xml 1.77KB
  8. lslidar_cx_driver/include/
  9. lslidar_cx_driver/include/lslidar_driver/
  10. lslidar_cx_driver/include/lslidar_driver/input.h 3.54KB
  11. lslidar_cx_driver/include/lslidar_driver/lslidar_driver.h 27.33KB
  12. lslidar_cx_driver/pcap/
  13. lslidar_cx_driver/src/
  14. lslidar_cx_driver/src/lslidar_driver_nodelet.cc 1.74KB
  15. lslidar_cx_driver/src/lslidar_driver_node.cpp 1.12KB
  16. lslidar_cx_driver/src/input.cc 10.66KB
  17. lslidar_cx_driver/src/lslidar_driver.cpp 77.98KB
  18. lslidar_cx_driver/launch/
  19. lslidar_cx_driver/launch/nodelet_cx.launch 1.78KB
  20. lslidar_cx_driver/launch/lslidar_double.launch 4.11KB
  21. lslidar_cx_driver/launch/lslidar_cx.launch 2.41KB
  22. lslidar_cx_driver/rviz/
  23. lslidar_cx_driver/rviz/lslidar.rviz 5.79KB
  24. lslidar_cx_driver/msg/
  25. lslidar_cx_driver/msg/LslidarScan.msg 155B
  26. lslidar_cx_driver/msg/LslidarPacket.msg 115B
  27. lslidar_cx_driver/srv/
  28. lslidar_cx_driver/srv/remove_control.srv 37B
  29. lslidar_cx_driver/srv/data_ip.srv 31B
  30. lslidar_cx_driver/srv/dev_port.srv 31B
  31. lslidar_cx_driver/srv/data_port.srv 32B
  32. lslidar_cx_driver/srv/motor_speed.srv 34B
  33. lslidar_cx_driver/srv/time_service.srv 55B
  34. lslidar_cx_driver/srv/motor_control.srv 36B
  35. lslidar_cx_driver/srv/destination_ip.srv 38B
  36. lslidar_cx_driver/srv/lslidar_control.srv 36B
  37. lslidar_cx_driver/.git/
  38. lslidar_cx_driver/.git/description 73B
  39. lslidar_cx_driver/.git/HEAD 23B
  40. lslidar_cx_driver/.git/COMMIT_EDITMSG 104B
  41. lslidar_cx_driver/.git/config 92B
  42. lslidar_cx_driver/.git/index 2.54KB
  43. lslidar_cx_driver/.git/logs/
  44. lslidar_cx_driver/.git/logs/HEAD 3.89KB
  45. lslidar_cx_driver/.git/logs/refs/
  46. lslidar_cx_driver/.git/logs/refs/heads/
  47. lslidar_cx_driver/.git/logs/refs/heads/master 3.89KB
  48. lslidar_cx_driver/.git/info/
  49. lslidar_cx_driver/.git/info/exclude 240B
  50. lslidar_cx_driver/.git/hooks/
  51. lslidar_cx_driver/.git/hooks/pre-merge-commit.sample 416B
  52. lslidar_cx_driver/.git/hooks/pre-commit.sample 1.6KB
  53. lslidar_cx_driver/.git/hooks/prepare-commit-msg.sample 1.46KB
  54. lslidar_cx_driver/.git/hooks/pre-rebase.sample 4.78KB
  55. lslidar_cx_driver/.git/hooks/pre-receive.sample 544B
  56. lslidar_cx_driver/.git/hooks/commit-msg.sample 896B
  57. lslidar_cx_driver/.git/hooks/pre-push.sample 1.32KB
  58. lslidar_cx_driver/.git/hooks/pre-applypatch.sample 424B
  59. lslidar_cx_driver/.git/hooks/applypatch-msg.sample 478B
  60. lslidar_cx_driver/.git/hooks/fsmonitor-watchman.sample 3.01KB
  61. lslidar_cx_driver/.git/hooks/update.sample 3.53KB
  62. lslidar_cx_driver/.git/hooks/post-update.sample 189B
  63. lslidar_cx_driver/.git/branches/
  64. lslidar_cx_driver/.git/refs/
  65. lslidar_cx_driver/.git/refs/heads/
  66. lslidar_cx_driver/.git/refs/heads/master 41B
  67. lslidar_cx_driver/.git/refs/tags/
  68. lslidar_cx_driver/.git/objects/
  69. lslidar_cx_driver/.git/objects/af/
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  71. lslidar_cx_driver/.git/objects/af/8d7fcc1c4421de602b8ebc59d4116d179a4731 57B
  72. lslidar_cx_driver/.git/objects/ba/
  73. lslidar_cx_driver/.git/objects/ba/bc167e3254aac33765adbb4565ceeb02ba2957 3.43KB
  74. lslidar_cx_driver/.git/objects/b0/
  75. lslidar_cx_driver/.git/objects/b0/5067d94dfab3874d9f2f6a8819a455ff66ec77 153B
  76. lslidar_cx_driver/.git/objects/b0/1f99db16798b90363581868d5eee0a617a9ed6 3.8KB
  77. lslidar_cx_driver/.git/objects/41/
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  79. lslidar_cx_driver/.git/objects/41/c7abceb399030f2ba1b2825b655d8fe20c495a 182B
  80. lslidar_cx_driver/.git/objects/41/388577b82738f7f892aacf40a45f815cc52782 327B
  81. lslidar_cx_driver/.git/objects/58/
  82. lslidar_cx_driver/.git/objects/58/2e7942fa4716e463f29a307ebb62a39debe921 3.33KB
  83. lslidar_cx_driver/.git/objects/3e/
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  87. lslidar_cx_driver/.git/objects/ae/
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  93. lslidar_cx_driver/.git/objects/50/
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  95. lslidar_cx_driver/.git/objects/dd/
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  98. lslidar_cx_driver/.git/objects/e1/
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  101. lslidar_cx_driver/.git/objects/a0/
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  103. lslidar_cx_driver/.git/objects/38/
  104. lslidar_cx_driver/.git/objects/38/05b843e61f524d4740a96f8782a723d8de6e86 3.23KB
  105. lslidar_cx_driver/.git/objects/38/dfd5b00133b3dacc2682696beb274a786463ea 172B
  106. lslidar_cx_driver/.git/objects/38/dd7895cb89febd6a5c97d63528826736ac00a5 171B
  107. lslidar_cx_driver/.git/objects/89/
  108. lslidar_cx_driver/.git/objects/89/c6ef16e09e7a007210ba800b60d4e33a5a5eb7 52B
  109. lslidar_cx_driver/.git/objects/89/5af6b07ebca70670be82ac585e96807b4d5db1 3.33KB
  110. lslidar_cx_driver/.git/objects/89/58ac97f103165fc271c2ac550100a53de4259a 993B
  111. lslidar_cx_driver/.git/objects/63/
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  113. lslidar_cx_driver/.git/objects/df/
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  118. lslidar_cx_driver/.git/objects/7b/ad5ae2b3e348a9457f5e137e8c62fe8d1b5bc9 389B
  119. lslidar_cx_driver/.git/objects/47/
  120. lslidar_cx_driver/.git/objects/47/1147269576a8f75129a6a5e25b36fa94076c11 3.74KB
  121. lslidar_cx_driver/.git/objects/pack/
  122. lslidar_cx_driver/.git/objects/info/
  123. lslidar_cx_driver/.git/objects/a7/
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资源介绍:

3.+LSLIDAR_CX_ROS_V4.3.1_240409.zip
# LSLIDAR_CX_V4.3.0_240401_ROS 使用说明 ## 1.工程介绍 ​ LSLIDAR_CX_V4.3.0_240401_ROS为linux环境下雷达ros驱动，程序在ubuntu 20.04 ros noetic,ubuntu18.04 ros melodic以及ubuntu16.04 ros kinetic下测试通过。适用于C16,C32 3.0版本和C1,C1Plus,C4,C8,C8F,CKM8,C16,MSC16,C16国产,C32W,C32WN,C32WB,C32WP,CH32R 4.0版本以及N301 5.5版本雷达。 ## 2.依赖 1.ubuntu20.04 ros noetic/ubuntu18.04 ros melodic/ubuntu16.04 ros kinetic 2.ros依赖 ```bash # 安装 sudo apt-get install ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-pluginlib ros-$ROS_DISTRO-pcl-conversions ros-$ROS_DISTRO-diagnostic-updater ``` 3.其他依赖 ~~~bash sudo apt-get install libpcap-dev ~~~ ## 3.编译运行 ### 3.1 编译 ~~~bash #创建工作空间及src目录 lidar_ws为工作空间名 可自定义 mkdir -p ~/lidar_ws/src #将驱动压缩包解压缩放到~/lidar_ws/src 目录下 #返回工作空间 cd ~/lidar_ws #编译及刷新 catkin_make source devel/setup.bash ~~~ ### 3.2 运行 运行单个雷达: ~~~bash roslaunch lslidar_cx_driver lslidar_cx.launch ~~~ 运行多个雷达： ~~~bash roslaunch lslidar_cx_driver lslidar_double.launch ~~~ ## 4.参数介绍 lslidar_cx.launch文件内容如下，每个参数含义见注释说明。 ~~~bash # 雷达ip # 雷达目的数据端口 # 雷达目的设备端口 # 雷达是否使用授时(GPS PTP NTP) # 点云类型 true: xyzi # 离线播包时每秒读取的pcap包数 #pcap包路径，加载pcap包时打开此注释 # 是否开启组播 ture:启用组播模式 # 组播ip # 点云帧id # 雷达扫描最小距离 默认0.15m # 雷达扫描最大距离 默认200米 # 雷达扫描最小裁剪角度 单位: 0.01° # 雷达扫描最大裁剪角度 单位: 0.01° #10Hz:0.18 20Hz:0.36 5Hz:0.09--> # 是否发布laserscan true: 发布laserscan # laserscan线号 # 点云0度角对应方向 true: x轴正方向 # 若不需要启动rivz，请注释或删除改行 # tf坐标转换 ~~~ ### 组播模式： - 上位机设置雷达开启组播模式 - 修改launch文件以下参数 ~~~shell #是否添加组播 #组播的ip ~~~ - 运行以下指令将电脑加入组内（将指令中的enp2s0替换为用户电脑的网卡名,可用ifconfig查看网卡名) ~~~shell ifconfig sudo route add -net 224.0.0.0/4 dev enp2s0 ~~~ ### 离线pcap模式： - 把录制好的pcap文件，拷贝到lslidar_cx_driver/pcap文件夹下。 - 修改launch文件以下参数 ~~~shell #取消注释 #pcap包路径，加载pcap包时打开此注释 ~~~ ### pcl点云类型： - 修改launch文件以下参数 ~~~shell #点云类型，默认false点云中的点为xyzirt字段。改为true，点云中的点为xyzi字段。 ~~~ - 默认false为自定义点云类型，定义参考lslidar_driver/include/lslidar_driver.h头文件 - 改为true,为pcl自带类型 : ~~~shell pcl::PointCloud ~~~ ## 5.设置雷达 ## 修改雷达授时方式： ~~~bash #新开一个终端 source devel/setup.bash ~~~ GPS授时： ~~~bash rosservice call /time_service "time_service_mode: 'gps' ntp_ip: ''" ~~~ PTP授时： 仅支持4.0激光雷达 ~~~bash rosservice call /time_service "time_service_mode: 'ptp' ntp_ip: ''" ~~~ NTP授时： 仅支持4.0激光雷达 ~~~bash rosservice call /time_service "time_service_mode: 'ntp' ntp_ip: '192.168.1.102'" ~~~ ### 雷达上下电(只发设备包，不发送数据包，4.0雷达依然转动)： ~~~bash #新开一个终端 source devel/setup.bash ~~~ 上电： ~~~bash rosservice call /lslidar_control "laser_control: 1" ~~~ 下电： ~~~bash rosservice call /lslidar_control "laser_control: 0" ~~~ ### 雷达转动/停止转动(电机停转)： ~~~bash #新开一个终端 source devel/setup.bash ~~~ 转动： ~~~bash rosservice call /motor_control "motor_control: 1" ~~~ 停止转动： ~~~bash rosservice call /motor_control "motor_control: 0" ~~~ ### 设置雷达转速： ~~~bash #新开一个终端 source devel/setup.bash ~~~ 可选频率 5Hz/10Hz/20Hz ~~~bash rosservice call /set_motor_speed "motor_speed: 20" ~~~ ### 设置雷达去除雨雾尘等级：(仅支持该功能的雷达有效) 仅支持4.0激光雷达 ~~~bash #新开一个终端 source devel/setup.bash ~~~ 可选等级 0/1/2/3 ，0-3 数字越大，去除越强 ~~~bash rosservice call /remove_control "remove_control: 0" ~~~ ### 设置雷达数据包端口 ~~~bash #新开一个终端 source devel/setup.bash ~~~ ~~~bash rosservice call /set_data_port "data_port: 2368" #范围[1025,65535] ~~~ **备注：设置完以后，需要修改launch文件参数，然后重启驱动程序。** ### 设置雷达设备包端口 ~~~bash #新开一个终端 source devel/setup.bash ~~~ ~~~bash rosservice call /set_dev_port "dev_port: 2369" #范围[1025,65535] ~~~ **备注：设置完以后，需要修改launch文件参数，然后重启驱动程序。** ### 设置雷达ip ~~~bash #新开一个终端 source devel/setup.bash ~~~ ~~~bash rosservice call /set_data_ip "data_ip: '192.168.1.200'" ~~~ **备注：设置完以后，需要修改launch文件参数，然后重启驱动程序。** ### 设置雷达目的ip ~~~bash #新开一个终端 source devel/setup.bash ~~~ ~~~bash rosservice call /set_destination_ip "destination_ip: '192.168.1.102'" ~~~ **备注：设置完以后，需要修改launch文件参数，然后重启驱动程序。** ## FAQ Bug Report Original version : LSLIDAR_CX_V4.1.4_220425_ROS Modify: original version Date : 2022-04-25 -------------------------------------------------------------------- Update version : LSLIDAR_CX_V4.1.5_220620_ROS Modify: c8雷达，光学垂直角度修改。 Date : 2022-06-20 ------------------------------------------------------------ Update version : LSLIDAR_CX_V4.2.0_221028_ROS Modify: 1.新增对4.0版本单线雷达
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