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houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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sensors/lslidar_m10_driver/lslidar_driver/launch/lslidar_net.launch
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<launch>
<node pkg="lslidar_driver" type="lslidar_driver_node" name="lslidar_driver_node" output="screen">
<param name="frame_id" value="laser_link"/> #激光坐标
<param name="device_ip" value="192.168.1.200"/> #雷达源IP
<param name="device_port" value="2368"/> #雷达目的端口号
<param name="device_ip_difop" value="192.168.1.102"/> #雷达目的ip
<param name="difop_port" value="2369"/> #雷达源端口号
<param name="lidar_name" value="M10"/> #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 N10_PLUS L10
<param name="interface_selection" value="net"/> #接口选择:net 为网口,serial 为串口
<param name="add_multicast" value="false"/> #是否启动组播
<param name="group_ip" value="224.1.1.2"/> #组播ip
<param name="scan_topic" value="/scan"/> #设置激光数据topic名称
<param name="angle_disable_min" value="0.0"/> #角度裁剪开始值
<param name="angle_disable_max" value="0.0"/> #角度裁剪结束值
<param name="min_range" value="0"/> #雷达接收距离最小值
<param name="max_range" value="100.0"/> #雷达接收距离最大值
<param name="use_gps_ts" value="false"/> #雷达是否使用GPS授时
<param name="compensation" value="false"/> #雷达是否使用角度补偿功能
<param name="pubScan" value="true"/> #雷达是否发布scan话题
<param name="pubPointCloud2" value="false"/> #雷达是否发布pointcloud2话题
<param name="high_reflection" value="false"/> #M10_P雷达需填写该值,若不确定，请联系技术支持
<!--param name="pcap" value="$(find lslidar_driver)/pcap/xxx.pcap"/--> #雷达是否使用pcap包读取功能
</node>
</launch>