# **rslidar_sdk**
[中文介绍](README_CN.md)
## 1 Introduction
**rslidar_sdk** is the lidar driver software development kit running on Ubuntu operating system, which contains the lidar driver core, ROS support, ROS2 support and Protobuf-UDP communication functions. For users who want to get point cloud through ROS or ROS2, this software development kit can be used directly. For those who want to do advanced development or integrate the lidar driver into their own projects, please refer to the lidar driver core [rs_driver](https://github.com/RoboSense-LiDAR/rs_driver).
### **1.1 LiDAR Support**
- RS16
- RS32
- RSBP
- RS128
- RS80
- RSM1-B3
- RSHELIOS
### 1.2 Point type support
- XYZI - x, y, z, intensity
- XYZIRT - x, y, z, intensity, ring, timestamp
## 2 Download
### 2.1 Download via Git
Since rslidar_sdk project includes a submodule --- rs_driver, user needs to run the following commands after git clone to download the submodule properly.
```sh
git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git
cd rslidar_sdk
git submodule init
git submodule update
```
### 2.2 Download directly
Instead of using Git, user can also access [rslidar_sdk_release](https://github.com/RoboSense-LiDAR/rslidar_sdk/releases) to download the latest version of rslidar_sdk. Please download the **rslidar_sdk.tar.gz** archive instead of Source code because the Source code zip file does not contain the submodule(rs_driver), which should be downloaded manaully.
## 3 Dependencies
### 3.1 ROS
To run rslidar_sdk in ROS environment, ROS related libraries need to be installed.
**Ubuntu 16.04**: ros-kinetic-desktop-full
**Ubuntu 18.04**: ros-melodic-desktop-full
**Installation**: please refer to http://wiki.ros.org
If you install ros-kinetic-desktop-full or ros-melodic-desktop-full， the corresponding PCL and Boost will be installed at the same time. It will bring you a lot of convenience since you don't need to handle the version confliction. Thus, **it's highly recommanded to install ros-distro-desktop-full**.
### 3.2 ROS2
If use rslidar_sdk in ROS2 environment, ROS2 related libraries need to be installed.
**Ubuntu 16.04**: Not supportted
**Ubuntu 18.04**: ROS2 eloquent desktop
**Installation**: please refer to https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Install-Debians/
**Note! Please avoid installing ROS and ROS2 on the same computer! This may cause conflict! Also you may need to install Yaml manually.**
### 3.3 Yaml(Essential)
version: >= v0.5.2
*If ros-distro-desktop-full is installed, this section can be skipped*
Installation:
```sh
sudo apt-get update
sudo apt-get install -y libyaml-cpp-dev
```
### 3.4 Pcap(Essential)
version: >=v1.7.4
Installation：
```sh
sudo apt-get install -y libpcap-dev
```
### 3.5 Protobuf(Optional)
version:>=v2.6.1
Installation :
```sh
sudo apt-get install -y libprotobuf-dev protobuf-compiler
```
## 4 Compile & Run
We offer three ways to compile and run the driver.
### 4.1 Compile directly
In this way, user can use ROS facilities(not ROS2) if ROS master node is launched in advance via ```roscore```. Also, rviz can be launched seperately for visualization.
```sh
cd rslidar_sdk
mkdir build && cd build
cmake .. && make -j4
./rslidar_sdk_node
```
### 4.2 Compile with ROS catkin tools
(1) Open the *CMakeLists.txt* in the project，modify the line on top of the file **set(COMPILE_METHOD ORIGINAL)** to **set(COMPILE_METHOD CATKIN)**.
```cmake
#=======================================
# Compile setup (ORIGINAL,CATKIN,COLCON)
#=======================================
set(COMPILE_METHOD CATKIN)
```
(2) Rename the file *package_ros1.xml* in the rslidar_sdk to *package.xml*
(3) Create a new workspace folder, and create a *src* folder in it. Then put the rslidar_sdk project into the *src* folder.
(4) Go back to the root of workspace, run the following commands to compile and run. (if using zsh, replace the 2nd command with *source devel/setup.zsh*).
```sh
catkin_make
source devel/setup.bash
roslaunch rslidar_sdk start.launch
```
### 4.3 Compile with ROS2-colcon
(1) Open the *CMakeLists.txt* in the project，modify the line on top of the file **set(COMPILE_METHOD ORIGINAL)** to **set(COMPILE_METHOD COLCON)**.
```cmake
#=======================================
# Compile setup (ORIGINAL,CATKIN,COLCON)
#=======================================
set(COMPILE_METHOD COLCON)
```
(2) Rename the file *package_ros2.xml* in the rslidar_sdk to *package.xml*
(3) Create a new workspace folder, and create a *src* folder in it. Then put the rslidar_sdk project in the *src* folder.
(4) Download the packet definition project in ROS2 through [link](https://github.com/RoboSense-LiDAR/rslidar_msg), then put the project rslidar_msg in the *src* folder you just created.
(5) Go back to the root of workspace, run the following commands to compile and run. (if using zsh, replace the 2nd command with *source install/setup.zsh*).
```sh
colcon build
source install/setup.bash
ros2 launch rslidar_sdk start.py
```
## 5 Introduction to parameters
This section is very important since all functions and features provided by rslidar_sdk is configured via parameter modification. So please read the following links carefully.
[Intro to parameters](doc/intro/parameter_intro.md)
[Intro to hidden parameters](doc/intro/hiding_parameters_intro.md)
## 6 Quick start
The following documents are some quick guides for using some of the most common features of the rslidar_sdk. The rslidar_sdk are not limited to the following modes of operation and users can use rslidar_sdk in their own way by modifying parameters.
[Online connect lidar and send point cloud through ROS](doc/howto/how_to_online_send_point_cloud_ros.md)
[Record rosbag & Offline decode rosbag](doc/howto/how_to_record_and_offline_decode_rosbag.md)
[Decode pcap bag and send point cloud through ROS](doc/howto/how_to_offline_decode_pcap.md)
## 7 Advanced
[Send & Receive via Protobuf](doc/howto/how_to_use_protobuf_function.md)
[Multi-LiDARs](doc/howto/how_to_use_multi_lidars.md)
[Switch Point Type](doc/howto/how_to_switch_point_type.md)
[Coordinate Transformation](doc/howto/how_to_use_coordinate_transformation.md)
[Multi-Cast](doc/howto/how_to_use_multi_cast_function.md)
slow-auto-master.zip
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2022-11-30
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slow-auto-master.zip （527个子文件） 
CATKIN_IGNORE 0B point_cloud.pb.cc 27KB ros_detector.cc 21KB scan.pb.cc 16KB packet.pb.cc 13KB cluster_detector.cc 13KB cluster_detector_node.cc 1KB .clang-format 2KB FindPCAP.cmake 3KB autoware_build_flags-extras.cmake 1KB rs_driverConfig.cmake 1KB rs_driverConfigVersion.cmake 571B CDCU_PowerStatus.cpp 20KB test_libwaypoint_follower.cpp 18KB adapter_manager.cpp 18KB libwaypoint_follower.cpp 16KB ADCU_PowerCmd.cpp 14KB pure_pursuit_core.cpp 12KB test_butterworth_filter.cpp 12KB can_test.cpp 11KB butterworth_filter.cpp 11KB CDCU_VehState.cpp 10KB rs_driver_viewer.cpp 10KB test_amathutils_lib.cpp 10KB health_aggregator.cpp 9KB health_checker.cpp 9KB ADCU_BodyCmd.cpp 9KB pure_pursuit_viz.cpp 9KB pure_pursuit.cpp 8KB CDCU_BodyStatus.cpp 7KB test_ros_observer.cpp 7KB test_autoware_health_checker.cpp 7KB control.cpp 7KB health_analyzer.cpp 7KB ros_observer.cpp 7KB gps.cpp 7KB likecan.cpp 6KB test_kalman_filter.cpp 6KB control_handle.cpp 6KB Amathutils.cpp 6KB ADCU_DriveCmd0.cpp 6KB pure_pursuit.cpp 6KB CDCU_BatStatus.cpp 6KB points_concat_filter.cpp 6KB lib_ros_observer.cpp 6KB cansend.cpp 6KB CDCU_DriveStatus.cpp 5KB ADCU_SteerCmd.cpp 5KB ADCU_BrakeCmd.cpp 5KB demo_pcap.cpp 5KB demo_online.cpp 5KB obu_send_handle.cpp 4KB gps2utm.cpp 4KB kalman_filter.cpp 4KB waypoint_loader.cpp 4KB CDCU_SteerStatus.cpp 4KB waypoint_reconstructor_handle.cpp 4KB CDCU_BrakeStatus.cpp 4KB CDCU_VehDyncState.cpp 4KB test_pure_pursuit.cpp 4KB rslidar_sdk_node.cpp 4KB cansend_handle.cpp 4KB localization_adapter_handle.cpp 4KB waypoint_loader_handle.cpp 4KB diag_buffer.cpp 3KB time_delay_kalman_filter.cpp 3KB waypoint_reconstructor.cpp 3KB waypoint_saver_handle.cpp 3KB obu_recv.cpp 3KB obu_send.cpp 3KB CDCU_ParkStatus.cpp 3KB serial_com_handle.cpp 3KB ADCU_ParkCmd.cpp 3KB canparse_handle.cpp 3KB waypoint_saver.cpp 3KB rate_checker.cpp 3KB canparse.cpp 2KB param_manager.cpp 2KB gps_handle.cpp 2KB status_monitor.cpp 2KB decision_making_handle.cpp 2KB main.cpp 2KB main.cpp 2KB value_manager.cpp 2KB protocol.cpp 2KB protocol.cpp 2KB protocol.cpp 2KB obu_recv_handle.cpp 2KB test_pure_pursuit.cpp 2KB serial_com.cpp 2KB localization_adapter.cpp 2KB system_status_subscriber.cpp 1KB decision_making.cpp 1KB main.cpp 1KB main.cpp 1KB main.cpp 1KB pure_pursuit.cpp 1KB main.cpp 1KB main.cpp 1KB main.cpp 1KB共 527 条
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