There is only one configure file config.yaml, which is stored in rslidar_sdk/config. The config.yaml can be divided into two parts, the common part and the lidar part .
In multi-LiDARs case, the parameters in common part will be shared by all LiDARs, while the parameters in lidar part need to be adjust for each LiDAR.
config.yaml is indentation sensitive! Please make sure the indentation is not changed when adjusting the parameters!
This part is used to decide the source of LiDAR data, and whether to publish point clouds or not.
common:
msg_source: 1
send_packet_ros: false
send_point_cloud_ros: false
send_packet_proto: false
send_point_cloud_proto: false
pcap_path: /home/robosense/lidar.pcap -
msg_source
-
0 -- Not use lidar. Basically you will never set this parameter to 0.
-
1 -- When connecting with a running lidar, set to 1. For more details, please refer to Online connect lidar and send point cloud through ROS
-
2 -- The lidar packet come from ROS or ROS2. This will be used in offline decode rosbag. For more details, please refer to Record rosbag & Offline decode rosbag
-
3 -- The lidar packet come from offline pcap bag. For more details, please refer to Decode pcap bag and send point cloud through ROS
-
4 -- The lidar packet come from Protobuf-UDP. For more details, please refer to Use protobuf send & receive
-
5 -- The lidar point cloud come from Protobuf-UDP. For more details, please refer to Use protobuf send & receive
-
-
send_packet_ros
- true -- The lidar packets will be sent to ROS or ROS2.
Since the ROS packet message is of a customized message type, you can't directly echo the topic through ROS. Mostly the packets are only used to record offline bag because the size is much smaller than point cloud.
-
send_point_cloud_ros
- true -- The lidar point cloud will be sent to ROS or ROS2.
The ROS point cloud type is the ROS official defined type -- sensor_msgs/PointCloud2, which means the point cloud can be visualized on ROS-Rviz directly. Also you can record the point cloud to rosbag but its size may be very large, that's why we suggest to record packets.
-
send_packet_proto
- true -- The lidar packets will be sent out as protobuf message through ethernet by UDP protocal.
-
send_point_cloud_proto
- true -- The lidar point cloud will be sent out as protobuf message through ethernet in UDP protocal.
We suggest sending packets rather than point clouds through ethernet by protobuf because point cloud size is too large which may take up a lot of bandwidth.
-
pcap_path
If the msg_source = 3, please make sure the pcap_path is correct, otherwise this paramter can be igonred.
This part needs to be adjusted for every LiDAR seperately (in multi-LiDARs case).
lidar:
- driver:
lidar_type: RS128
frame_id: /rslidar
msop_port: 6699
difop_port: 7788
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /rslidar_packets
ros_send_packet_topic: /rslidar_packets
ros_send_point_cloud_topic: /rslidar_points
proto:
point_cloud_recv_port: 60021
point_cloud_send_port: 60021
msop_recv_port: 60022
msop_send_port: 60022
difop_recv_port: 60023
difop_send_port: 60023
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1 -
lidar_type
Supported types of LiDAR are listed in README.
-
frame_id
The frame id of the point cloud message.
-
msop_port, difop_port
The msop port and difop_port of LiDAR. Please check these parameters first is no data received.
-
start_angle, end_angle
The start angle and end angle of the point cloud, which should be set in range of 0~360°. (start_angle can be larger than end_angle).
-
min_distance, max_distance
The minimum distance and maximum distance of the point cloud.
-
use_lidar_clock
- true -- Use the lidar internal clock as the message timestamp
- false -- Use the system clock as the message timestamp
Here are two examples. The first configure file is for single LiDAR case and second is used for the case where there are 3 LiDARs. Please adjust the specific parameters according to your own case.
- Online connection to single LiDAR & Send point cloud to ROS
common:
msg_source: 1
send_packet_ros: false
send_point_cloud_ros: true
send_packet_proto: false
send_point_cloud_proto: false
pcap_path: /home/robosense/lidar.pcap
lidar:
- driver:
lidar_type: RS128
frame_id: /rslidar
msop_port: 6699
difop_port: 7788
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /rslidar_packets
ros_send_packet_topic: /rslidar_packets
ros_send_point_cloud_topic: /rslidar_points
proto:
point_cloud_recv_port: 60021
point_cloud_send_port: 60021
msop_recv_port: 60022
msop_send_port: 60022
difop_recv_port: 60023
difop_send_port: 60023
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1 - Online connection to three LiDARs & Send point cloud to ROS
Pay attention to the indentation of lidar part
common:
msg_source: 1
send_packet_ros: false
send_point_cloud_ros: true
send_packet_proto: false
send_point_cloud_proto: false
pcap_path: /home/robosense/lidar.pcap
lidar:
- driver:
lidar_type: RS128
frame_id: /rslidar
msop_port: 6699
difop_port: 7788
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /middle/rslidar_packets
ros_send_packet_topic: /middle/rslidar_packets
ros_send_point_cloud_topic: /middle/rslidar_points
proto:
point_cloud_recv_port: 60021
point_cloud_send_port: 60021
msop_recv_port: 60022
msop_send_port: 60022
difop_recv_port: 60023
difop_send_port: 60023
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1
- driver:
lidar_type: RSBP
frame_id: /rslidar
msop_port: 1990
difop_port: 1991
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /left/rslidar_packets
ros_send_packet_topic: /left/rslidar_packets
ros_send_point_cloud_topic: /left/rslidar_points
proto:
point_cloud_recv_port: 60024
point_cloud_send_port: 60024
msop_recv_port: 60025
msop_send_port: 60025
difop_recv_port: 60026
difop_send_port: 60026
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1
- driver:
lidar_type: RSBP
frame_id: /rslidar
msop_port: 2010
difop_port: 2011
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /right/rslidar_packets
ros_send_packet_topic: /right/rslidar_packets
ros_send_point_cloud_topic: /right/rslidar_points
proto:
point_cloud_recv_port: 60027
point_cloud_send_port: 60027
msop_recv_port: 60028
msop_send_port: 60028
difop_recv_port: 60029
difop_send_port: 60029
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1