289 lines
9.0 KiB
Markdown
289 lines
9.0 KiB
Markdown
# lslidar_c16
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#version v3.1.1_210922
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## version track
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Author: zx
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### ver3.0 zx
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## Description
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The `lslidar_c16` package is a linux ROS driver for lslidar c16.
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The package is tested on Ubuntu 16.04/18.04 with ROS kinetic/melodic.
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## Compling
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This is a Catkin package. Make sure the package is on `ROS_PACKAGE_PATH` after cloning the package to your workspace. And the normal procedure for compling a catkin package will work.
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```
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cd your_work_space
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catkin_make
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```
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## Example Usage
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### lslidar_c16_decoder
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**Parameters**
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`lidar_ip` (`string`, `default: 192.168.1.200`)
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By default, the IP address of the device is 192.168.1.200.
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`frame_id` (`string`, `default: laser_link`)
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The frame ID entry for the sent messages.
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**Published Topics**
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`lslidar_point_cloud`
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Each message corresponds to a lslidar packet sent by the device through the Ethernet.
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### lslidar_c16_decoder
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**Parameters**
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`min_range` (`double`, `0.3`)
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`max_range` (`double`, `200.0`)
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Points outside this range will be removed.
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`frequency` (`frequency`, `10.0`)
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Note that the driver does not change the frequency of the sensor.
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`publish_point_cloud` (`bool`, `true`)
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If set to true, the decoder will additionally send out a local point cloud consisting of the points in each revolution.
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**Published Topics**
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`lslidar_sweep` (`lslidar_c16_msgs/LslidarChSweep`)
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The message arranges the points within each sweep based on its scan index and azimuth.
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`lslidar_pointclou_c16` (`sensor_msgs/PointCloud2`)
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This is only published when the `publish_point_cloud` is set to `true` in the launch file.
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**Node**
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```
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roslaunch lslidar_c16_decoder lslidar_c16.launch --screen
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```
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Note that this launch file launches both the driver and the decoder, which is the only launch file needed to be used.
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## FAQ
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## Bug Report
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##Version changes
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/***********2020-01-03****************/
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Original version : lslidar_c16_v2.02_190919
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Revised version : lslidar_c16_v2.03_200103
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Modify : Add a new calibration decode for the new lslidar c16
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Author : zx
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Date : 2020-01-03
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/***********2020-01-16****************/
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Original version : lslidar_c16_v2.03_200103
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Revised version : lslidar_c16_v2.6.0_200116
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Modify : Adds the vertical Angle correction file lslidar_c16_db.yaml for the RoS program code
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Change the range resolution to 0.25cm according to the v2.6 protocol
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Author : zx
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Date : 2020-01-16
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/***********2020-04-02****************/
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Original version : lslidar_c16_v2.6.0_200116
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Revised version : lslidar_c16_v2.6.1_200402
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Modify : 1. 增加了读取设备包并解析垂直角度值的功能，用于替换原有固定的垂直角度值。
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2. 修改了lslidar_c16.launch文件，用于兼容选择参数和功能
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Author : zx
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Date : 2020-04-02
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luanch文件说明:
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<node pkg="lslidar_c16_decoder" type="lslidar_c16_decoder_node" name="lslidar_c16_decoder_node" output="screen">
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<param name="calibration_file" value="$(find lslidar_c16_decoder)/params/lslidar_c16_db.yaml" />
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<param name="min_range" value="0.15"/>
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<param name="max_range" value="150.0"/>
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<param name="cbMethod" value="true"/> //cbMethod = true表示增加x,y坐标的偏移计算补偿, false则不加
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<param name="print_vert" value="true"/> //print_vert = true 表示打印设备包角度信息， false表示关闭打印信息
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<param name="config_vert_file" value="false"/> //config_vert_file = true 表示读取yaml文件中的垂直角度， false则关闭
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<param name="distance_unit" value="0.25"/> //distance_unit = 0.25表示距离单位为0.25cm, = 1表示距离单位为1cm
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<param name="time_synchronization" value="$(arg time_synchronization)"/>
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</node>
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/***********2020-06-06************/
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Original version : lslidar_c16_v2.6.1_200402
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Revised version : lslidar_c16_v3.0_200606
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Modify : 1. 修改了读取设备包并解析垂直角度值和GPS时间的功能。
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2. 增加了读取设备包并解析3号版版本号，用于兼容V2.0版本雷达。
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Author : lqm
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Date : 2020-06-06
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/***********2020-06-19************/
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Original version : lslidar_c16_v3.0_200606
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Revised version : lslidar_c16_v3.0.1_200619
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Modify : 1. 点云校准距离计算方式更新。
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Author : lqm
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Date : 2020-06-19
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/***********2020-08-18************/
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Original version : lslidar_c16_v3.0.1_200619
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Revised version : LSLIDAR_C16_V3.0.2_200818_ROSK
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Modify : 1. 增加点云中每个点的线号信息。
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Author : lqm
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Date : 2020-08-18
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/***********2020-08-26************/
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Original version : LSLIDAR_C16_V3.0.2_200818_ROSK
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Revised version : LSLIDAR_C16_V3.0.3_200826_ROSK
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Modify : 1. 更新每一帧点云的起始角度固定在0°附近，结束角度在360°。
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Author : lqm
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Date : 2020-08-26
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/***********2020-09-10************/
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Original version : LSLIDAR_C16_V3.0.3_200826_ROSK
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Revised version : LSLIDAR_C16_V3.0.4_200910_ROSK
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Modify :
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1. 新增兼容垂直角度分辨率为1.33°雷达。
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2. 增加LaserScan 消息类型发布。
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3. 新增扫描角度裁剪。
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4. 更新gps时间解析，秒+1。
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launch文件说明：
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<param name="degree_mode" value="1"/> <!--1表示垂直角度分辨率为1.33°，2表示垂直角度分辨率为2° -->
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<param name="scan_start_angle" value="0.0"/> <!-- 扫描裁剪起始角-->
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<param name="scan_end_angle" value="36000.0"/> <!-- 扫描裁剪结束角，单位0.01°-->
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<param name="scan_num" value="8"/> <!--LaserScan选择的通道-->
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<param name="publish_scan" value="false"/> <!--是否发布LaserScan消息类型-->
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Author : lqm
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Date : 2020-09-10
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/***********2020-12-02************/
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Original version : LSLIDAR_C16_V3.0.4_200910_ROSK
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Revised version : LSLIDAR_C16_V3.0.6_201202_ROSK
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Modify :
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1. 兼容 Ubuntu18.04的ROS melodic。
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2. 新增nodelet.launch文件。
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3. 去除线号（lines/ring）信息，使用标准点云数据类型。
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launch文件说明：
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<arg name="time_synchronization" default="false" />
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<！--默认 ，时间同步为false。如果接GPS模块授时，则需改为 true。-->
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Author : lqm
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Date : 2020-12-02
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/***********2021-04-08************/
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Original version : LSLIDAR_C16_V3.0.6_201202_ROSK
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Revised version : LSLIDAR_C16_V3.0.8_210408_ROS
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Modify :
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1. 新增可以单独显示第二次回波点云模式，只针对双回波雷达有效。
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2. 增加静态坐标转换示例。
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```xml
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lslidar_c16.launch文件说明：
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<arg name="return_mode" default="1" />
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<param name="echo_second" value="false"/>
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<!--node pkg="tf" type="static_transform_publisher" name="laser_link_to_world" args="0 0 0 0 0 0 world laser_link 100" /-->
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```
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若需要只显示第二次回波点云的模式，参数改为如下：
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<arg name="return_mode" default="2" />
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<param name="echo_second" value="true"/>
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静态坐标转换示例，取消注释。
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<node pkg="tf" type="static_transform_publisher" name="laser_link_to_world" args="0 0 0 0 0 0 world laser_link 100" >
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并根据实际需求 ，调整 0 0 0 0 0 0 这6个参数值（XYZ和xyz轴旋转角度）。
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Author : lqm
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Date : 2021-04-08
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/***********2021-07-01************/
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Original version : LSLIDAR_C16_V3.0.8_210408_ROS
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Revised version : LSLIDAR_C16_V3.0.9_210701_ROS
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Modify :
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1. 新增启动launch文件时，打开rviz。
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2. 添加了service通信控制上下电的功能。
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另开终端，输入以下命令:
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```shell
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source devel/setup.bash
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rosservice call /lslidarcontrol 1 //上电
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rosservice call /lslidarcontrol 0 //下电
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```
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Author : lqm
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Date : 2021-07-01
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/***********2021-07-26************/
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Original version : LSLIDAR_C16_V3.0.9_210701_ROS
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Revised version : LSLIDAR_C16_V3.1.0_210726_ROS
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Modify :
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1. 新增点的线号和时间戳。
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2. 增加install编译。
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3. 修改同一工作空间下编译不同雷达驱动报错问题。
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Author : lqm
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Date : 2021-07-26
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2021-09-22
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原始版本：LSLIDAR_C16_V3.1.0_210726_ROS
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修订版本：LSLIDAR_C16_V3.1.1_210922_ROS
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更新内容：
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1、增加坐标系选择，默认雷达0度角对应x轴
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launch 文件说明：
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~~~xml
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<arg name="time_synchronization" default="false" /> //默认未开启GPS授时
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<arg name="return_mode" default="1" /> //默认单回波，双回波雷达改为2
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<param name="degree_mode" value="2"/> //雷达垂直角度分辨率，默认2代表2度分辨率，1代表1.33度分辨率
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<param name="distance_unit" value="0.25"/> //距离分辨率0.25
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<param name="pointcloud_topic" value="lslidar_point_cloud"/> //lslidar_point_cloud为点云话题名，可改
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<param name="coordinate_opt" value="true"/> // 坐标系，默认雷达0度角对应x轴，false为雷达0度角对应y轴
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~~~
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