Robosense LiDAR Driver¶
1 工程简介¶
robosense 为速腾聚创在阿波罗平台上的雷达驱动集成包。 目前支持RS16，RS32，RSBP，RS128四种型号的雷达。
2 运行¶
所有驱动均需要在Apollo Docker环境下运行
2.1 RS16¶
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs16.launch
或
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs16.dag
默认话题名：
原始点云 – /apollo/sensor/rs16/PointCloud2
Scan–/apollo/sensor/rs16/Scan
运动补偿后点云 – /apollo/sensor/rs16/compensator/PointCloud2
2.2 RS32¶
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs32.launch
或
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs32.dag
默认话题名：
原始点云 – /apollo/sensor/rs32/PointCloud2
Scan – /apollo/sensor/rs32/Scan
运动补偿后点云 – /apollo/sensor/rs32/compensator/PointCloud2
2.3 RS128¶
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rs128.launch
或
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rs128.dag
默认话题名：
原始点云 – /apollo/sensor/rs128/PointCloud2
Scan–/apollo/sensor/rs128/Scan
运动补偿后点云 – /apollo/sensor/rs128/compensator/PointCloud2
2.4 RSBP¶
cyber_launch start /apollo/modules/drivers/lidar/robosense/launch/rsbp.launch
或
mainboard -d /apollo/modules/drivers/lidar/robosenseag/rsbp.dag
默认话题名：
原始点云 – /apollo/sensor/rsbp/PointCloud2
Scan–/apollo/sensor/rsbp/Scan
运动补偿后点云 – /apollo/sensor/rsbp/compensator/PointCloud2