【镭神激光雷达官方驱动安装适配】

2021-04-18  本文已影响0人  ClarkWang1214

一、前言

由于之前使用的激光雷达驱动是网上github上拉下来的,现在使用过程中出现很多问题,咨询客服后,发现github上的是非官方版本,并且也并未上传到github中,于是在拿到官方发过来的驱动后,现在需要重新进行适配

准备好官方激光雷达驱动

二、驱动编译

fatal error: pcap.h: No such file or directory
 #include <pcap.h>
          ^~~~~~~~
compilation terminated.
编译报错
2)解决办法:
sudo apt-get install libpcap0.8-dev 编译安装libpcap0.8-dev库 编译成功

三、启动激光雷达

执行以下命令:

source devel/setup.bash  #使生效
roslaunch lslidar_c16_decoder lslidar_c16.launch #启动激光雷达

报错:

启动激光雷达launch文件报错

问题分析:

端口数据传送没问题,可以正常从激光雷达源IP地址2369端口到本机2368端口发送激光点云数据


端口数据传送没问题,可以正常从激光雷达源IP地址2369端口到本机2368端口发送激光点云数据
terminate called after throwing an instance of 'std::runtime_error'
  what():  Time is out of dual 32-bit range

2)红色区域最前面的中括号中显示lslidar_c16_driver_node的进程被杀死

[lslidar_c16_driver_node-1] process has died [pid 24005, exit code -6, cmd /home/hopechart/work/wqc/workspace/catkin_ws_lslidar_new/LSLIDAR_C16_V3.0.3_200826_ROSK/devel/lib/lslidar_c16_driver/lslidar_c16_driver_node __name:=lslidar_c16_driver_node __log:=/home/hopechart/.ros/log/068a1214-9ff3-11eb-be55-0002a000730c/lslidar_c16_driver_node-1.log].
log file: /home/hopechart/.ros/log/068a1214-9ff3-11eb-be55-0002a000730c/lslidar_c16_driver_node-1*.log

解决:

int main(int argc, char** argv)
{
  ros::init(argc, argv, "lslidar_c16_driver");
  ros::NodeHandle node;
  ros::NodeHandle private_nh("~");

  signal(SIGINT, my_handler);

  // start the driver
  lslidar_c16_driver::lslidarDriver dvr(node, private_nh);

  // loop until shut down or end of file
  while (ros::ok() && dvr.poll())
  {
    ros::spinOnce();
  }

  return 0;
}
// loop until shut down or end of file
  ros::Rate loop_rate(10);
  while (ros::ok() && dvr.poll())
  {
    ros::spinOnce();
  }
启动正常,若出现poll() time out问题,请检查端口号以及激光雷达IP是否设置正确 通过rostopic hz /lslidar_point_cloud查看激光雷达点云的频率,为10HZ左右 通过By topic添加PointCloud2类型可视化控件 在左侧Global Options中修改fixed frame为官方驱动默认的/laser_link
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