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Innovusion ros2 manual

Install ROS2

The following official versions are verified to support, of course Rolling distribution is also supported, we are also compatible with docker ros2

Distro Release date Logo EOL date
Humble Hawksbill May 23rd, 2022 Humble logo May 2027
Galactic Geochelone May 23rd, 2021 Galactic logo November 2022
Foxy Fitzroy June 5th, 2020 Foxy logo May 2023

Run innovusion node

  • Build package

    colcon build [--packages-select innovusion]

  • Activate enviroment

    source install/setup.bash

    • (Optional)Enable ROS2 share memory

      export FASTRTPS_DEFAULT_PROFILES_FILE=`pwd`/shm_profile.xml 
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

  • Run

    Connect the lidar and confirm the lidar_ip in launch/ivu_pc2.py, default(172.168.1.10)

    • ros2 run

      ros2 run innovusion <publisher|subscriber>

    • ros2 launch

    For parameter modification, please refer to launch/ivu_pc2.py

    ros2 launch innovusion ivu_pc2.py