Robosense LiDAR Driver¶
1 Introduction¶
robosense is the lidar driver kit under Apollo platform. Now support RS16，RS32，RSBP，RS128 .
2 Run¶
All the drivers need to be excuted under Apollo docker environment.
2.1 RS16¶
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs16.launch
or
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs16.dag
Default Channel Name：
Original point cloud – /apollo/sensor/rs16/PointCloud2
Scan–/apollo/sensor/rs16/Scan
Compensation point cloud – /apollo/sensor/rs16/compensator/PointCloud2
2.2 RS32¶
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs32.launch
or
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs32.dag
Default Channel Name：
Original point cloud – /apollo/sensor/rs32/PointCloud2
Scan–/apollo/sensor/rs32/Scan
Compensation point cloud – /apollo/sensor/rs32/compensator/PointCloud2
2.3 RS128¶
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs128.launch
or
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs128.dag
Default Channel Name：
Original point cloud – /apollo/sensor/rs128/PointCloud2
Scan–/apollo/sensor/rs128/Scan
Compensation point cloud – /apollo/sensor/rs128/compensator/PointCloud2
2.4 RSBP¶
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rsbp.launch
or
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rsbp.dag
Default Channel Name：
Original point cloud – /apollo/sensor/rsbp/PointCloud2
Scan–/apollo/sensor/rsbp/Scan
Compensation point cloud – /apollo/sensor/rsbp/compensator/PointCloud2