# Lslidar_ROS2_driver **Repository Path**: libaos/lslidar-ros2-driver ## Basic Information - **Project Name**: Lslidar_ROS2_driver - **Description**: 镭神激光雷达ros2驱动 - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2024-10-31 - **Last Updated**: 2024-10-31 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # LSLIDAR_CX_V4.2.4_240410_ROS2 ## 1.Introduction ​ LSLIDAR_CX_V4.2.4_240410_ROS2 is the lidar ros driver in linux environment,.The program has been tested successfully under ubuntu 22.04 ROS humble,ubuntu20.04 ROS foxy, and ubuntu20.04 ROS galactic, ubuntu18.04 ROS dashing, and ubuntu18.04 ROS eloquent. ​ Applicable to C16,C32 3.0 version and C1, C1Plus, C4, C8, C8f, CKM8, C16, MSC16, C16 domestic, C32, C32W, C32WN,C32Wb,C32WP, CH32R 4.0 version and n301 5.5 version lidars. ## 2.Dependencies 1.ros To run lidar driver in ROS environment, ROS related libraries need to be installed. **Ubuntu 18.04**: ros-dashing-desktop-full **Ubuntu 18.04**: ros-eloquent-desktop-full **Ubuntu 20.04**: ros-foxy-desktop-full **Ubuntu 20.04**: ros-galactic-desktop-full **Ubuntu 22.04**: ros-humble-desktop-full **Installation**: please refer to [http://wiki.ros.org](http://wiki.ros.org/) 2.ros dependencies ```bash # install sudo apt-get install ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-pluginlib ros-$ROS_DISTRO-pcl-conversions ``` 3.other dependencies ~~~bash sudo apt-get install libpcap-dev sudo apt-get install libboost${BOOST_VERSION}-dev #Select the appropriate version ~~~ ## 3.Compile & Run ### 3.1 Compile ~~~bash mkdir -p ~/lidar_ws/src ~~~ Copy the whole lidar ROS driver directory into ROS workspace, i.e "~/lidar_ws/src". ~~~bash cd ~/lidar_ws colcon build source install/setup.bash ~~~ ### 3.2 Run run with single lidar: ~~~bash ros2 launch lslidar_driver lslidar_cx_launch.py ros2 launch lslidar_driver lslidar_cx_rviz_launch.py #Automatically load rviz ~~~ run with double lidar: ~~~bash ros2 launch lslidar_driver lslidar_double_launch.py ros2 launch lslidar_driver lslidar_double_rviz_launch.py #Automatically load rviz ~~~ run with four lidar: ~~~bash ros2 launch lslidar_driver lslidar_four_launch.py ~~~ ## 4. Introduction to parameters The content of the lslidar_cx.yaml file is as follows, and the meaning of each parameter is shown in the notes. ~~~bash /cx/lslidar_driver_node: ros__parameters: packet_rate: 1695.0 #Number of packets played per second when playing pcap device_ip: 192.168.1.200 # lidar ip msop_port: 2368 # Main data Stream Output Protocol packet port difop_port: 2369 # Device Information Output Protocol packet port pcl_type: false # pointcloud type，false: xyzirt,true:xyzi add_multicast: false # Whether to add multicast group_ip: 224.1.1.2 # multicast ip use_time_service: true # Whether gps time synchronization min_range: 0.15 # Unit: m. The minimum value of the lidar blind area, points smaller than this value are filtered max_range: 200.0 # Unit: m. The maximum value of the lidar blind area, points smaller than this value are filtered angle_disable_min: 0 # lidar clipping angle start value ，unit:0.01° Fill in integers angle_disable_max: 0 # lidar clipping angle end value ，unit:0.01° Fill in integers distance_unit: 0.4 # lidar range resolution horizontal_angle_resolution: 0.18 #10Hz:0.18 20Hz:0.36 5Hz: 0.09 frame_id: laser_link # lidar point cloud coordinate system name topic_name: lslidar_point_cloud # point cloud topic name, can be modified publish_scan: false # Whether to publish the scan scan_num: 15 # laserscan line number coordinate_opt: false # Default false. The zero degree angle of the lidar corresponds to the direction of the point cloud #pcap: /home/ls/Documents/xxx.pcap # Uncomment to read the data from the pcap file, and add the comment to read the data from the lidar ~~~ ### Multicast mode: - The host computer sets the lidar to enable multicast mode - Modify the following parameters of the launch file ~~~xml add_multicast: true group_ip: 224.1.1.2 //The multicast ip address set by the host computer ~~~ - Run the following command to add the computer to the group (replace enp2s0 in the command with the network card name of the user's computer, you can use ifconfig to view the network card name) ~~~shell ifconfig sudo route add -net 224.0.0.0/4 dev enp2s0 ~~~ ### Offline pcap mode: - Copy the recorded pcap file to the lslidar_ros/lslidar_driver/pcap folder - Modify the following parameters of the launch file ~~~xml // uncomment pcap: xxx.pcap // xxx.pcap is changed to the copied pcap file name ~~~ ### pcl point cloud type: - Modify the following parameters of the launch file ~~~xml pcl_type: false # pointcloud type，false: xyzirt,true:xyzi ~~~ - The default false is the custom point cloud type, which references the definition in the file of lslidar_driver/include/lslidar_driver.h Change it to true, which is the own type of pcl: ~~~c++ pcl::PointCloud ~~~ ### Modify lidar time service mode: source install/setup.bash GPS： ~~~bash ros2 service call /xx/time_service lslidar_msgs/srv/TimeService "{time_service_mode: 'gps',ntp_ip: ''}" #Note: xx is the namespace, such as cx ~~~ PTP：(lidar that supports this function) ~~~bash ros2 service call /xx/time_service lslidar_msgs/srv/TimeService "{time_service_mode: 'ptp',ntp_ip: ''}" #Note: xx is the namespace, such as cx ~~~ NTP：(lidar that supports this function) ~~~bash ros2 service call /xx/time_service lslidar_msgs/srv/TimeService "{time_service_mode: 'ntp',ntp_ip: '192.168.1.102'}" #Note: xx is the namespace, such as cx ~~~ ### lidar power on/off(lidar still rotates, only send equipment packets): source install/setup.bash power on： ~~~bash ros2 service call /xx/lslidar_control lslidar_msgs/srv/LslidarControl "{laser_control: 1}" #Note: xx is the namespace, such as cx ~~~ power off： ~~~bash ros2 service call /xx/lslidar_control lslidar_msgs/srv/LslidarControl "{laser_control: 0}" #Note: xx is the namespace, such as cx ~~~ ### lidar rotates/stops rotating (motor stops rotating)： source install/setup.bash turn： ~~~bash ros2 service call /xx/motor_control lslidar_msgs/srv/MotorControl "{motor_control: 1}" #Note: xx is the namespace, such as cx ~~~ Stop rotating： ~~~bash ros2 service call /xx/motor_control lslidar_msgs/srv/MotorControl "{motor_control: 0}" #Note: xx is the namespace, such as cx ~~~ ### Set lidar speed: source install/setup.bash Optional frequency 5Hz/10Hz/20Hz ~~~bash ros2 service call /xx/set_motor_speed lslidar_msgs/srv/MotorSpeed "{motor_speed: 20}" #Note: xx is the namespace, such as cx ~~~ ### Set lidar data packet port source install/setup.bash ~~~bash ros2 service call /xx/set_data_port lslidar_msgs/srv/DataPort "{data_port: 2368}" #range[1025,65535] #Note: xx is the namespace, such as cx ~~~ **Note: After setting, you need to modify the launch file parameters and restart the driver.** ### Set lidar equipment packet port source install/setup.bash ~~~bash ros2 service call /xx/set_dev_port lslidar_msgs/srv/DevPort "{dev_port: 2369}"#range[1025,65535] #Note: xx is the namespace, such as cx ~~~ **Note: After setting, you need to modify the launch file parameters and restart the driver.** ### Set lidar ip source install/setup.bash ~~~bash ros2 service call /xx/set_data_ip lslidar_msgs/srv/DataIp "{data_ip: "192.168.1.200"}" #Note: xx is the namespace, such as cx ~~~ **Note: After setting, you need to modify the launch file parameters and restart the driver.** ### Set lidar destination ip source install/setup.bash ~~~bash ros2 service call /xx/set_destination_ip lslidar_msgs/srv/DestinationIp "{destination_ip: "192.168.1.102"}" #Note: xx is the namespace, such as cx ~~~ ## FAQ Bug Report Original version : LSLIDAR_CX_V4.0.0_221031_ROS2 Modify: original version Date : 2022-10-31 ----------------- Update version : LSLIDAR_CX_V4.1.0_221227_ROS2 Modify:1. Scan topic adds strength information 2. fpga upgrade, C32 90 degree modification of calculation formula 3. ROS driver adds the function of modifying time service mode 4. New function to modify lidar configuration 5. Added support for ros2 dashing, ros2 eloquent, and ros2 humble 6. Fixed the ntp timing resolution problem. Date : 2022-12-27 ----------------- Update version : LSLIDAR_CX_V4.2.2_230322_ROS2 Modify:1.Prompt for usage duration ​ 2.Driver version prompt Date : 2023-03-22 ------------------- Update version : LSLIDAR_CX_V4.2.3_230403_ROS2 Modify: 1.Change the fpga protocol and modify the calculation formula of C32W Date : 2023-04-03 ------------------------- Update version : LSLIDAR_CX_V4.2.4_240410_ROS2 Modify: 1.Optimize code to reduce CPU usage 2.supports negative angle cropping 3.Delete the idar model parameters and rewrite the automatic recognition lidar model 4.Compatible with C16 C32 3.0 version, C1 C1Plus C4 C8F CKM8 C16 domestic version C32WN C32WB 4.0 version, CH32R 4.8 version, N301 5.5 version lidar 5.Solve the problem of continuous zero crossing angle between two adjacent data packet points in 3.0 lidar, and fix the inability of 3.0 lidar to power on and off 6.Restrict the range of lidar IP settings and prohibit setting 224 network segments as lidar IPs Date : 2024-04-10