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3.+LSLIDAR_CX_ROS_V4.3.1_240409.zip
大小:4.21MB
价格:50积分
下载量:0
评分:
5.0
上传者:qq_61847487
更新日期:2025-09-22

3.+LSLIDAR_CX_ROS_V4.3.1_240409.zip

资源文件列表(大概)

文件名
大小
lslidar_cx_driver/
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lslidar_cx_driver/LICENSE
560B
lslidar_cx_driver/README.md
10.14KB
lslidar_cx_driver/README_en.md
11KB
lslidar_cx_driver/nodelets.xml
298B
lslidar_cx_driver/CMakeLists.txt
2.95KB
lslidar_cx_driver/package.xml
1.77KB
lslidar_cx_driver/include/
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lslidar_cx_driver/include/lslidar_driver/
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lslidar_cx_driver/include/lslidar_driver/input.h
3.54KB
lslidar_cx_driver/include/lslidar_driver/lslidar_driver.h
27.33KB
lslidar_cx_driver/pcap/
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lslidar_cx_driver/src/
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lslidar_cx_driver/src/lslidar_driver_nodelet.cc
1.74KB
lslidar_cx_driver/src/lslidar_driver_node.cpp
1.12KB
lslidar_cx_driver/src/input.cc
10.66KB
lslidar_cx_driver/src/lslidar_driver.cpp
77.98KB
lslidar_cx_driver/launch/
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lslidar_cx_driver/launch/nodelet_cx.launch
1.78KB
lslidar_cx_driver/launch/lslidar_double.launch
4.11KB
lslidar_cx_driver/launch/lslidar_cx.launch
2.41KB
lslidar_cx_driver/rviz/
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lslidar_cx_driver/rviz/lslidar.rviz
5.79KB
lslidar_cx_driver/msg/
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lslidar_cx_driver/msg/LslidarScan.msg
155B
lslidar_cx_driver/msg/LslidarPacket.msg
115B
lslidar_cx_driver/srv/
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lslidar_cx_driver/srv/remove_control.srv
37B
lslidar_cx_driver/srv/data_ip.srv
31B
lslidar_cx_driver/srv/dev_port.srv
31B
lslidar_cx_driver/srv/data_port.srv
32B
lslidar_cx_driver/srv/motor_speed.srv
34B
lslidar_cx_driver/srv/time_service.srv
55B
lslidar_cx_driver/srv/motor_control.srv
36B
lslidar_cx_driver/srv/destination_ip.srv
38B
lslidar_cx_driver/srv/lslidar_control.srv
36B
lslidar_cx_driver/.git/
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lslidar_cx_driver/.git/description
73B
lslidar_cx_driver/.git/HEAD
23B
lslidar_cx_driver/.git/COMMIT_EDITMSG
104B
lslidar_cx_driver/.git/config
92B
lslidar_cx_driver/.git/index
2.54KB
lslidar_cx_driver/.git/logs/
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lslidar_cx_driver/.git/logs/HEAD
3.89KB
lslidar_cx_driver/.git/logs/refs/
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lslidar_cx_driver/.git/logs/refs/heads/
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lslidar_cx_driver/.git/logs/refs/heads/master
3.89KB
lslidar_cx_driver/.git/info/
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lslidar_cx_driver/.git/info/exclude
240B
lslidar_cx_driver/.git/hooks/
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lslidar_cx_driver/.git/hooks/pre-merge-commit.sample
416B
lslidar_cx_driver/.git/hooks/pre-commit.sample
1.6KB
lslidar_cx_driver/.git/hooks/prepare-commit-msg.sample
1.46KB
lslidar_cx_driver/.git/hooks/pre-rebase.sample
4.78KB
lslidar_cx_driver/.git/hooks/pre-receive.sample
544B
lslidar_cx_driver/.git/hooks/commit-msg.sample
896B
lslidar_cx_driver/.git/hooks/pre-push.sample
1.32KB
lslidar_cx_driver/.git/hooks/pre-applypatch.sample
424B
lslidar_cx_driver/.git/hooks/applypatch-msg.sample
478B
lslidar_cx_driver/.git/hooks/fsmonitor-watchman.sample
3.01KB
lslidar_cx_driver/.git/hooks/update.sample
3.53KB
lslidar_cx_driver/.git/hooks/post-update.sample
189B
lslidar_cx_driver/.git/branches/
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lslidar_cx_driver/.git/refs/
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lslidar_cx_driver/.git/refs/heads/
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lslidar_cx_driver/.git/refs/heads/master
41B
lslidar_cx_driver/.git/refs/tags/
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lslidar_cx_driver/.git/objects/
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lslidar_cx_driver/.git/objects/af/
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lslidar_cx_driver/.git/objects/af/cb8aca5e8525e3193c7ce9514680f35247df25
391B
lslidar_cx_driver/.git/objects/af/8d7fcc1c4421de602b8ebc59d4116d179a4731
57B
lslidar_cx_driver/.git/objects/ba/
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lslidar_cx_driver/.git/objects/ba/bc167e3254aac33765adbb4565ceeb02ba2957
3.43KB
lslidar_cx_driver/.git/objects/b0/
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lslidar_cx_driver/.git/objects/b0/5067d94dfab3874d9f2f6a8819a455ff66ec77
153B
lslidar_cx_driver/.git/objects/b0/1f99db16798b90363581868d5eee0a617a9ed6
3.8KB
lslidar_cx_driver/.git/objects/41/
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lslidar_cx_driver/.git/objects/41/53a28be9f874b580805370c9204b1c9f9a7845
226B
lslidar_cx_driver/.git/objects/41/c7abceb399030f2ba1b2825b655d8fe20c495a
182B
lslidar_cx_driver/.git/objects/41/388577b82738f7f892aacf40a45f815cc52782
327B
lslidar_cx_driver/.git/objects/58/
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lslidar_cx_driver/.git/objects/58/2e7942fa4716e463f29a307ebb62a39debe921
3.33KB
lslidar_cx_driver/.git/objects/3e/
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lslidar_cx_driver/.git/objects/3e/fe032873b11fa2a309e44c3c19363effa013f3
2.72KB
lslidar_cx_driver/.git/objects/0d/
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lslidar_cx_driver/.git/objects/0d/acc004a5180ea695d7e337dfc5c2b8d902cda2
2.78KB
lslidar_cx_driver/.git/objects/ae/
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lslidar_cx_driver/.git/objects/ae/f36b1c75c15eead8d8693cd78f76d0ba3c453a
156B
lslidar_cx_driver/.git/objects/ae/ec35eb08e779aa79a1efe9ea3d981e72220f52
51B
lslidar_cx_driver/.git/objects/5d/
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lslidar_cx_driver/.git/objects/5d/20a4f3a464c333f824f4b308857e2d8f3889ec
3.2KB
lslidar_cx_driver/.git/objects/5d/90461cd7fe7d35561ef8322cb112297b073d65
2.82KB
lslidar_cx_driver/.git/objects/50/
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lslidar_cx_driver/.git/objects/50/3a60aa562f9ced7a00c28ce2197ae692ebccd7
1.49KB
lslidar_cx_driver/.git/objects/dd/
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lslidar_cx_driver/.git/objects/dd/ce1fff1c2737b58421c4cfb024f0b63f4358ac
3.24KB
lslidar_cx_driver/.git/objects/dd/63c127977693b33dede0d9e262cf5d12d9c787
11.06KB
lslidar_cx_driver/.git/objects/e1/
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lslidar_cx_driver/.git/objects/e1/20a285ffd1c3b806a06d0730a7ffbc5dc95f46
90B
lslidar_cx_driver/.git/objects/e1/4403a843de9175e885d846a009a5dd0548879c
57B
lslidar_cx_driver/.git/objects/a0/
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lslidar_cx_driver/.git/objects/a0/10d7f3f3bb875ab347d2893b81fbafe133b030
57B
lslidar_cx_driver/.git/objects/38/
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lslidar_cx_driver/.git/objects/38/05b843e61f524d4740a96f8782a723d8de6e86
3.23KB
lslidar_cx_driver/.git/objects/38/dfd5b00133b3dacc2682696beb274a786463ea
172B
lslidar_cx_driver/.git/objects/38/dd7895cb89febd6a5c97d63528826736ac00a5
171B
lslidar_cx_driver/.git/objects/89/
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lslidar_cx_driver/.git/objects/89/c6ef16e09e7a007210ba800b60d4e33a5a5eb7
52B
lslidar_cx_driver/.git/objects/89/5af6b07ebca70670be82ac585e96807b4d5db1
3.33KB
lslidar_cx_driver/.git/objects/89/58ac97f103165fc271c2ac550100a53de4259a
993B
lslidar_cx_driver/.git/objects/63/
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lslidar_cx_driver/.git/objects/63/2ac8dd16297860fd5446c533cb6077e0d442d2
57B
lslidar_cx_driver/.git/objects/df/
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lslidar_cx_driver/.git/objects/df/98d65c26fc3a74348a8c2b7f9e9d80f82a5cef
56B
lslidar_cx_driver/.git/objects/7b/
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lslidar_cx_driver/.git/objects/7b/f49ee1ff4d1264597fed767e362d95ed6df6da
153B
lslidar_cx_driver/.git/objects/7b/958b26a27bbf8262e9c5a77bf51a5334e01d44
14.04KB
lslidar_cx_driver/.git/objects/7b/ad5ae2b3e348a9457f5e137e8c62fe8d1b5bc9
389B
lslidar_cx_driver/.git/objects/47/
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lslidar_cx_driver/.git/objects/47/1147269576a8f75129a6a5e25b36fa94076c11
3.74KB
lslidar_cx_driver/.git/objects/pack/
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lslidar_cx_driver/.git/objects/info/
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lslidar_cx_driver/.git/objects/a7/
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lslidar_cx_driver/.git/objects/a7/da6fd4823b3494c500e6fef74e8cf61f5f9285
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lslidar_cx_driver/.git/objects/a7/0ff1506f6fa06ad9bc4904a3d888ea0b23aa68
856B
lslidar_cx_driver/.git/objects/b3/
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lslidar_cx_driver/.git/objects/b3/1611b8fad0ddcd8a888d9862057e192ededd31
377B
lslidar_cx_driver/.git/objects/b3/c0cbf2c0849351345dfcc542c3dfe153906cf0
3.21KB
lslidar_cx_driver/.git/objects/b3/4abaf7ee9d07a07b8963c89b32db5c45f4cd90
1009B
lslidar_cx_driver/.git/objects/1c/
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lslidar_cx_driver/.git/objects/1c/dfe0cc85dc88a90f9b8813510af0610589d9db
2.59KB
lslidar_cx_driver/.git/objects/1c/10c5bbbe5a9f66ecc52bd5917431350f1f5039
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lslidar_cx_driver/.git/objects/1c/20977684125be5c26dab704ddd006f1afc1e3d
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lslidar_cx_driver/.git/objects/c6/
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lslidar_cx_driver/.git/objects/c6/32184c3715a3562961a2f71700bfe3eb03bded
2.61KB
lslidar_cx_driver/.git/objects/be/
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lslidar_cx_driver/.git/objects/be/c7b809e97674057e90ee365d35f6eef97af71a
535B
lslidar_cx_driver/.git/objects/be/ed470c7a27450239cb406d21c9aae95def6170
214B
lslidar_cx_driver/.git/objects/be/1d98feccb10686f627d1b271596be397e53850
91B
lslidar_cx_driver/.git/objects/75/
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lslidar_cx_driver/.git/objects/75/4357b7624f5d40f8fca9f4d79e64b835506eaa
902B
lslidar_cx_driver/.git/objects/75/46d20fb4632f2e052e543cb729ea20596bf659
275B
lslidar_cx_driver/.git/objects/42/
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lslidar_cx_driver/.git/objects/42/23cbfc2492b37a6d6905818b638a1c393478d3
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lslidar_cx_driver/.git/objects/42/e715d2db07d433a7a050fcd7b296f42a98ea70
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lslidar_cx_driver/.git/objects/ce/
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lslidar_cx_driver/.git/objects/ff/
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资源内容介绍

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 kinetic2.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~~~bashsudo 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_makesource devel/setup.bash~~~### 3.2 运行运行单个雷达:~~~bashroslaunch lslidar_cx_driver lslidar_cx.launch~~~运行多个雷达：~~~bashroslaunch 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<launch> <arg name="device_ip" default="192.168.1.200" /> # 雷达ip <arg name="msop_port" default="2368"/> # 雷达目的数据端口 <arg name="difop_port" default="2369"/> # 雷达目的设备端口 <arg name="use_time_service" default="false" /> # 雷达是否使用授时(GPS PTP NTP) <arg name="pcl_type" default="false" /> # 点云类型 true: xyzi <arg name="packet_rate" default="1695.0"/> # 离线播包时每秒读取的pcap包数 <node pkg="lslidar_cx_driver" type="lslidar_cx_driver_node" name="lslidar_driver_node" output="screen"> <!--param name="pcap" value="$(find lslidar_driver)/pcap/xxx.pcap"/-->#pcap包路径，加载pcap包时打开此注释 <param name="use_time_service" value="$(arg use_time_service)"/> <param name="packet_rate" value="$(arg packet_rate)"/> <param name="device_ip" value="$(arg device_ip)" /> <param name="msop_port" value="$(arg msop_port)" /> <param name="difop_port" value="$(arg difop_port)"/> <param name="pcl_type" value="$(arg pcl_type)"/> <param name="add_multicast" value="false"/> # 是否开启组播ture:启用组播模式 <param name="group_ip" value="224.1.1.2"/> # 组播ip <param name="frame_id" value="laser_link"/> # 点云帧id <param name="pointcloud_topic" value="lslidar_point_cloud"/> <!-- 点云话题名 --> <param name="distance_min" value="0.15"/> # 雷达扫描最小距离默认0.15m <param name="distance_max" value="200.0"/> # 雷达扫描最大距离默认200米 <param name="angle_disable_min" value="0"/> # 雷达扫描最小裁剪角度 单位: 0.01° <param name="angle_disable_max" value="0"/> # 雷达扫描最大裁剪角度 单位: 0.01° <param name="distance_unit" value="0.40"/> <param name="horizontal_angle_resolution" value="0.18"/> #10Hz:0.18 20Hz:0.36 5Hz:0.09--> <param name="publish_scan" value="false"/> # 是否发布laserscan true: 发布laserscan <param name="scan_num" value="15"/> # laserscan线号 <param name="coordinate_opt" value="false"/> # 点云0度角对应方向 true: x轴正方向 </node> <node pkg="rviz" type="rviz" name="rviz" args="-d $(find lslidar_cx_driver)/rviz/lslidar.rviz"/> # 若不需要启动rivz，请注释或删除改行 <!--node pkg="tf" type="static_transform_publisher" name="laser_link_to_world" args="0 0 0 0 0 0 world laser_link 100" /--># tf坐标转换 </launch>~~~### 组播模式：- 上位机设置雷达开启组播模式- 修改launch文件以下参数 ~~~shell <param name="add_multicast" value="false"/> #是否添加组播 <param name="group_ip" value="224.1.1.2"/> #组播的ip ~~~- 运行以下指令将电脑加入组内（将指令中的enp2s0替换为用户电脑的网卡名,可用ifconfig查看网卡名) ~~~shell ifconfig sudo route add -net 224.0.0.0/4 dev enp2s0 ~~~### 离线pcap模式：- 把录制好的pcap文件，拷贝到lslidar_cx_driver/pcap文件夹下。- 修改launch文件以下参数 ~~~shell #取消注释 <param name="pcap" value="$(find lslidar_cx_driver)/pcap/xxx.pcap" /> #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 <param name="pcl_type" value="$(arg pcl_type)"/> #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<pcl::PointXYZI> ~~~## 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：~~~bashrosservice call /time_service "time_service_mode: 'gps'ntp_ip: ''" ~~~PTP授时：仅支持4.0激光雷达~~~bashrosservice call /time_service "time_service_mode: 'ptp'ntp_ip: ''" ~~~NTP授时：仅支持4.0激光雷达~~~bashrosservice 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：~~~bashrosservice call /lslidar_control "laser_control: 1"~~~下电：~~~bashrosservice 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：~~~bashrosservice call /motor_control "motor_control: 1"~~~停止转动：~~~bashrosservice 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~~~bashrosservice 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~~~bashrosservice 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~~~~~~bashrosservice 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~~~~~~bashrosservice 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~~~~~~bashrosservice 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~~~~~~bashrosservice 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。**## FAQBug ReportOriginal version : LSLIDAR_CX_V4.1.4_220425_ROSModify: original versionDate : 2022-04-25--------------------------------------------------------------------Update version : LSLIDAR_CX_V4.1.5_220620_ROSModify: c8雷达，光学垂直角度修改。Date : 2022-06-20------------------------------------------------------------Update version : LSLIDAR_CX_V4.2.0_221028_ROSModify: 1.新增对4.0版本单线雷达

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