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		May 2027
Galactic Geochelone	May 23rd, 2021		November 2022
Foxy Fitzroy	June 5th, 2020		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