Measure/thirdpart/rs_driver

rs_driver

中文介绍

1 Introduction

rs_driver is the driver kernel for the RoboSense LiDARs.

2 Supported LiDARs

• RS-LiDAR-16
• RS-LiDAR-32
• RS-Bpearl
• RS-Ruby
• RS-Ruby Lite
• RS-LiDAR-M1
• RS-Helios

3 Supported Platforms

rs_driver is compatible with the following platforms and compilers:

• Ubuntu (16.04, 18.04)

  • gcc (4.8+)

• Windows

  • MSVC ( tested with VC2017 and VC2019)
  • Mingw-w64 (tested with x86_64-8.1.0-posix-seh-rt_v6-rev0 )

4 Dependency Libraries

rs_driver depends on the following third-party libraries. Please install them before compiling rs_driver.

• libpcap (optional, needed if parsing PCAP file)
• PCL (optional, needed if building the visualization tool)
• Eigen3 (optional, needed if use the internal transformation function)

5 Compilation and Installation

5.1 On Ubuntu

5.1.1 Dependency Libraries

sudo apt-get install libpcap-dev libpcl-dev libeigen3-dev

5.1.2 Compilation

cd rs_driver
mkdir build && cd build
cmake .. && make -j4

5.1.3 Installation

sudo make install

5.1.4 Use rs_driver as a third party library

In your CMakeLists.txt, find the rs_driver package and link to it .

find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(your_project ${rs_driver_LIBRARIES})

5.1.5 Use rs_driver as a submodule

Add rs_driver into your project as a submodule.

In your CMakeLists.txt, find the rs_driver package and link to it .

add_subdirectory(${PROJECT_SOURCE_DIR}/rs_driver)
find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(your_project ${rs_driver_LIBRARIES})

5.2 On Windows

5.2.1 Dependency Libraries

libpcap

Install libpcap runtime library.

Download libpcap's developer's pack to your favorite location, and add the path to WpdPack_4_1_2/WpdPack folder to the environment variable PATH .

PCL

• MSVC

Please use the official installation package All-in-one installer.

Select the "Add PCL to the system PATH for xxx" option during the installation.

• Mingw-w64

Since there'are no installers for mingw-w64 compiler available, Please compile PCL out from source as instructed in this tutorial.

5.2.2 Installation

Installation is not supported on Windows.

6 Quick Start

rs_driver offers two demo programs in rs_driver/demo.

• demo_online.cpp
• demo_pcap.cpp

Please refer to them for usage of the rs_driver API.

demo_pcap is based on libpcap.

To build demo_online and demo_pcap, enable the option COMPILE_DEMOS when configure the project.

cmake -DCOMPILE_DEMOS=ON ..

For more info about how to decode an online Lidar, Please refer to Online connect LiDAR

For more info about how to decode a PCAP file, Please refer to Decode pcap bag

7 Visualization of Point Cloud

rs_driver offers a visualization tool rs_driver_viwer in rs_driver/tool , which is based on PCL.

To build it, enable the option CMOPILE_TOOLS when configuring the project.

cmake -DCOMPILE_TOOLS=ON ..

For more info about how to use the rs_driver_viewer, please refer to Visualization tool guide

8 More Topics

For more topics, Please refer to:

Multi-Cast function: Multi-Cast Trasformation function: Transformation guide

For more info about the rs_driver API, Please refer to:

• Parameters definition: rs_driver/src/rs_driver/driver/driver_param.h
• Point Cloud message definition: rs_driver/src/rs_driver/msg/point_cloud_msg.h
• API definition: rs_driver/src/rs_driver/api/lidar_driver.h
• Error code definition: rs_driver/src/rs_driver/common/error_code.h