#version v3.0.1_200619

Author: zx

The lslidar_c16 package is a linux ROS driver for lslidar c16. The package is tested on Ubuntu 16.04 with ROS kinetic.

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.

cd your_work_space
catkin_make 

Parameters

lidar_ip (string, default: 192.168.1.200)

By default, the IP address of the device is 192.168.1.200.

frame_id (string, default: laser_link)

The frame ID entry for the sent messages.

Published Topics

lslidar_point_cloud

Each message corresponds to a lslidar packet sent by the device through the Ethernet.

Parameters

min_range (double, 0.3)

max_range (double, 200.0)

Points outside this range will be removed.

frequency (frequency, 10.0)

Note that the driver does not change the frequency of the sensor.

publish_point_cloud (bool, true)

If set to true, the decoder will additionally send out a local point cloud consisting of the points in each revolution.

Published Topics

lslidar_sweep (lslidar_c16_msgs/LslidarChSweep)

The message arranges the points within each sweep based on its scan index and azimuth.

lslidar_point_cloud (sensor_msgs/PointCloud2)

This is only published when the publish_point_cloud is set to true in the launch file.

Node

roslaunch lslidar_c16_decoder lslidar_c16.launch --screen

Note that this launch file launches both the driver and the decoder, which is the only launch file needed to be used.

##Version changes /2020-01-03*****/ Original version : lslidar_c16_v2.02_190919 Revised version : lslidar_c16_v2.03_200103 Modify : Add a new calibration decode for the new lslidar c16 Author : zx Date : 2020-01-03

/2020-01-16*****/ Original version : lslidar_c16_v2.03_200103 Revised version : lslidar_c16_v2.6.0_200116 Modify : Adds the vertical Angle correction file lslidar_c16_db.yaml for the RoS program code Change the range resolution to 0.25cm according to the v2.6 protocol Author : zx Date : 2020-01-16

/2020-04-02*****/ Original version : lslidar_c16_v2.6.0_200116 Revised version : lslidar_c16_v2.6.1_200402 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。 2. 修改了lslidar_c16.launch文件，用于兼容选择参数和功能 Author : zx Date : 2020-04-02

luanch文件说明: //cbMethod = true表示增加x,y坐标的偏移计算补偿, false则不加 //print_vert = true 表示打印设备包角度信息， false表示关闭打印信息 //config_vert_file = true 表示读取yaml文件中的垂直角度， false则关闭 //distance_unit = 0.25表示距离单位为0.25cm, = 1表示距离单位为1cm

/2020-06-06*/ Original version : lslidar_c16_v2.6.1_200402 Revised version : lslidar_c16_v3.0_200606 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。

​ 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。

Author : lqm Date : 2020-06-06

/2020-06-19*/ Original version : lslidar_c16_v3.0_200606 Revised version : lslidar_c16_v3.0.1_200619 Modify : 1. 点云校准距离计算方式更新。

Author : lqm Date : 2020-06-19