1 rslidar_sdk

1 Introduction

rslidar_sdk is the Software Development Kit of the RoboSense Lidar based on Ubuntu. Checkout the user manual.

1.1 Point Type Supported

• XYZI - x, y, z, intensity
• XYZIRT - x, y, z, intensity, ring, timestamp

2 Dependencies

• ROS2 (follow set up tutorials in AS repo)
• libpcap (already in dependencies script)
• libyaml-cpp-dev (already in dependencies script)

3 Build and Run

Before running the sdk, make sure that the connection with the LiDAR is established.

From the root of the AS repo (or wherever).

colcon build
source install/setup.bash
ros2 launch rslidar_sdk start.py

4 Configure

All configuration can be performed by editing the CMakeLists to change compilation mode, changing the package.xml between the ROS2 and ROS1 version and editing the config.yaml file in config folder.

5 Introduction to parameters

To change behaviors of rslidar_sdk, change its parameters. please read the following links for detail information.

Intro to parameters

Intro to hidden parameters

6 Quick start

Below are some quick guides to use rslidar_sdk.

Connect to online LiDAR and send point cloud through ROS

Decode PCAP file and send point cloud through ROS

Change Point Type

7 Advanced Topics

Online Lidar - Advanced topics

PCAP file - Advanced topics

Coordinate Transformation

Record rosbag & Replay it