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

3 Parameters Intro

Intro to parameters