rs_driver

1 工程简介

rs_driver为速腾聚创雷达驱动内核。支持RS-LiDAR-16, RS-LiDAR-32, RS-Bpearl, RS-128和RS-80的点云数据解析，方便用户二次开发使用。

2 依赖介绍

• Boost
• pthread
• pcap

Boost 与 pthread 均为系统库，可直接链接使用。

Pcap则需使用以下指令安装:

sudo apt-get install -y  libpcap-dev

3 使用方式

3.1 安装使用

首先安装驱动

cd rs_driver
mkdir build && cd build
cmake .. && make -j4
sudo make install

使用时，需要在CMakeLists文件中链接雷达驱动

find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(project ${rs_driver_LIBRARIES})

3.2 嵌入使用

直接将rs_driver放入用户工程内，在CMakeLists中链接即可

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/rs_driver/cmake)
include(rs_driver)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(project ${rs_driver_LIBRARIES})

4 示例程序

rs_driver提供了两个示例程序，存放于rs_driver/demo中：

• demo_online.cpp
• demo_pcap.cpp

若希望编译这两个示例程序，需要将CMakeLists文件内的COMPILE_DEMOS设置为TRUE(默认为FALSE)。

#=============================
#  Compile Demos (TRUE/FALSE)
#=============================
set(COMPILE_DEMOS TRUE)

用户可参考示例程序，编写自己的代码调用雷达驱动。

5 快速上手

在线连接雷达

离线解析pcap包

6 其他资料

参数简介

消息简介

异常简介

接口简介

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1 Introduction

rs_driver is the driver code for RoboSense LiDAR, include RS-LiDAR-16, RS-LiDAR-32, RS-Bpearl , RS-128 and RS-80 . It can be used to extract packets from lidar to point cloud, and it is convenient for users to do advanced development.

2 Dependency

• Boost
• pthread
• pcap

Boost and pthread are libraries of system, that can be linked directly.

Pcap need to be installed as follow:

sudo apt-get install -y  libpcap-dev

3 Usage

3.1 Install driver to use

Install the driver.

cd rs_driver
mkdir build && cd build
cmake .. && make -j4
sudo make install

Then find the driver package and link it in the project CMakeLists.

find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(project ${rs_driver_LIBRARIES})

3.2 Embed driver in project

Put the rs_driver in the project and link it in the CMakeLists.

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/rs_driver/cmake)
include(rs_driver)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(project ${rs_driver_LIBRARIES})

4 Demo Code

rs_driver supply two demo programs which are stored inrs_driver/demo：

• demo_online.cpp
• demo_pcap.cpp

User need to set the COMPILE_DEMOS in CMakeLists to TRUE to compile these two programs( the default value is FALSE).

#=============================
#  Compile Demos (TRUE/FALSE)
#=============================
set(COMPILE_DEMOS TRUE)

User can refer to the demo code to use rs_driver api.

5 Quick Start

Online connect LiDAR

Offline decode pcap bag

6 Others

Intro to parameters

Intro to message types

Intro to error codes

Intro to api