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# lslidar_c16 ## version track Author: Yutong ### Ver2.1 Yutong - Remove unused code and format code - Remove `C16` in namespace, file name, folder name in order to make this driver to adapt to other further lslidar models. This is not completed, put it in the TODO list ### Ver2.0 Yutong - Add GPS timestamp to PointCloud2 message There is timestamp field in PointCloud2/fields part - Using apollo/drivers/ namespace to adapt to apollo interface ### ver1.1 Yutong Using new message type to distinguish different channel data topic name: scan_channel topic type: LslidarC16Layer details: LslidarC16Layer is consist of 16 sets data for different channel, each set of data is represented by Sensor_msgs/LaserScan rosmessage type Usage: rostopic echo /scan_channel will output all 16 channels data rostopic echo /scan_channel/scan_channel[*] (* can be from 0 to 15 represents channel num) --> output data will be sensor_msgs/LaserScan message type Example: There is an example script to show you how to obtain each channel data, located at /lslidar_c16_decoder/scripts/Test_MultiChannel.py You will need python package numpy and matplotlib.pyplot(optional) to fully run this script ### ver1.05 Yutong Using rostopic to select the channel you wish to output topic name: layer_num topic type: std_msgs/Int8 details: send layer number to topic layer_num Usage: rostopic pub /layer_num std_msgs/Int8 "data: 5" --> output channel 5 data to topic /scan, message type is sensor_msgs/LaserScan . data number can only from 0 to 15 ## Description The `lslidar_c16` package is a linux ROS driver for lslidar c16. The package is tested on Ubuntu 14.04 with ROS indigo. ## Compling 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 compiling a catkin package will work. ``` cd your_work_space catkin_make ``` ## Example Usage ### lslidar_c16_decoder **Parameters** `device_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`) The frame ID entry for the sent messages. **Published Topics** `lslidar_packets` (`lslidar_c16_msgs/LslidarC16Packet`) Each message corresponds to a lslidar packet sent by the device through the Ethernet. ### lslidar_c16_decoder **Parameters** `min_range` (`double`, `0.15`) `max_range` (`double`, `150.0`) 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/LslidarC16Sweep`) 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. ## FAQ ## Bug Report