启动两个80线的速腾雷达
启动两个及以上的速腾雷达的方法。
参考连接：.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-UDPsend_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 ROS2send_packet_proto: false #true: Send packets through Protobuf-UDPsend_point_cloud_proto: false #true: Send point cloud through Protobuf-UDPpcap_path: /home/robosense/lidar.pcap #The path of pcap filelidar:- driver:lidar_type: RS80 #The lidar type - RS16, RS32, RSBP, RS128, RS80frame_id: /rslidar #The frame id of messagedevice_ip: 192.168.1.200 #The device ip addressmsop_port: 6699 #The msop port of lidar,default is 6699difop_port: 7788 #The difop port of lidar, default is 7788start_angle: 0 #The start angle of point cloud areaend_angle: 360 #The end angle of point cloud areamin_distance: 0.2 #The minimum distance of point cloud areamax_distance: 200 #The maximum distance of point cloud areause_lidar_clock: true #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestampangle_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 ROSros_send_packet_topic: /right/rslidar_packets #The topic which used to send lidar packets through ROSros_send_point_cloud_topic: /right/rslidar_points #The topic which used to send point cloud through ROSproto:point_cloud_recv_port: 60021 #The port number used for receiving point cloudpoint_cloud_send_port: 60021 #The port number which the point cloud will be send topoint_cloud_send_ip: 127.0.0.1 #The ip address which the point cloud will be send tomsop_recv_port: 60022 #The port number used for receiving lidar msop packetsdifop_recv_port: 60023 #The port number used for receiving lidar difop packetsmsop_send_port: 60022 #The port number which the msop packets will be send todifop_send_port: 60023 #The port number which the difop packets will be send topacket_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, RS80frame_id: /rslidar #The frame id of messagedevice_ip: 192.168.2.200 #The device ip addressmsop_port: 1122 #The msop port of lidar,default is 6699difop_port: 3344 #The difop port of lidar, default is 7788start_angle: 0 #The start angle of point cloud areaend_angle: 360 #The end angle of point cloud areamin_distance: 0.2 #The minimum distance of point cloud areamax_distance: 200 #The maximum distance of point cloud areause_lidar_clock: true #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestampangle_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 ROSros_send_packet_topic: /left/rslidar_packets #The topic which used to send lidar packets through ROSros_send_point_cloud_topic: /left/rslidar_points #The topic which used to send point cloud through ROSproto:point_cloud_recv_port: 60024 #The port number used for receiving point cloudpoint_cloud_send_port: 60024 #The port number which the point cloud will be send topoint_cloud_send_ip: 127.0.0.1 #The ip address which the point cloud will be send tomsop_recv_port: 60025 #The port number used for receiving lidar msop packetsdifop_recv_port: 60026 #The port number used for receiving lidar difop packetsmsop_send_port: 60025 #The port number which the msop packets will be send todifop_send_port: 60026 #The port number which the difop packets will be send topacket_send_ip: 127.0.0.1 #The ip address which the lidar packets will be send to
启动两个80线的速腾雷达
启动两个及以上的速腾雷达的方法。
参考连接：.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-UDPsend_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 ROS2send_packet_proto: false #true: Send packets through Protobuf-UDPsend_point_cloud_proto: false #true: Send point cloud through Protobuf-UDPpcap_path: /home/robosense/lidar.pcap #The path of pcap filelidar:- driver:lidar_type: RS80 #The lidar type - RS16, RS32, RSBP, RS128, RS80frame_id: /rslidar #The frame id of messagedevice_ip: 192.168.1.200 #The device ip addressmsop_port: 6699 #The msop port of lidar,default is 6699difop_port: 7788 #The difop port of lidar, default is 7788start_angle: 0 #The start angle of point cloud areaend_angle: 360 #The end angle of point cloud areamin_distance: 0.2 #The minimum distance of point cloud areamax_distance: 200 #The maximum distance of point cloud areause_lidar_clock: true #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestampangle_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 ROSros_send_packet_topic: /right/rslidar_packets #The topic which used to send lidar packets through ROSros_send_point_cloud_topic: /right/rslidar_points #The topic which used to send point cloud through ROSproto:point_cloud_recv_port: 60021 #The port number used for receiving point cloudpoint_cloud_send_port: 60021 #The port number which the point cloud will be send topoint_cloud_send_ip: 127.0.0.1 #The ip address which the point cloud will be send tomsop_recv_port: 60022 #The port number used for receiving lidar msop packetsdifop_recv_port: 60023 #The port number used for receiving lidar difop packetsmsop_send_port: 60022 #The port number which the msop packets will be send todifop_send_port: 60023 #The port number which the difop packets will be send topacket_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, RS80frame_id: /rslidar #The frame id of messagedevice_ip: 192.168.2.200 #The device ip addressmsop_port: 1122 #The msop port of lidar,default is 6699difop_port: 3344 #The difop port of lidar, default is 7788start_angle: 0 #The start angle of point cloud areaend_angle: 360 #The end angle of point cloud areamin_distance: 0.2 #The minimum distance of point cloud areamax_distance: 200 #The maximum distance of point cloud areause_lidar_clock: true #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestampangle_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 ROSros_send_packet_topic: /left/rslidar_packets #The topic which used to send lidar packets through ROSros_send_point_cloud_topic: /left/rslidar_points #The topic which used to send point cloud through ROSproto:point_cloud_recv_port: 60024 #The port number used for receiving point cloudpoint_cloud_send_port: 60024 #The port number which the point cloud will be send topoint_cloud_send_ip: 127.0.0.1 #The ip address which the point cloud will be send tomsop_recv_port: 60025 #The port number used for receiving lidar msop packetsdifop_recv_port: 60026 #The port number used for receiving lidar difop packetsmsop_send_port: 60025 #The port number which the msop packets will be send todifop_send_port: 60026 #The port number which the difop packets will be send topacket_send_ip: 127.0.0.1 #The ip address which the lidar packets will be send to