一、概述

RS-LiDAR-16是速腾聚创推出的16线激光雷达，是一颗非常小型的激光雷达，主要面向无人驾驶汽车环境感知、机器人环境感知、无人机测绘等领域。RS16采用混合固态激光雷达方式，集合了16 个激光收发组件，最大探测距离150米，测量精度+/- 2cm以内。通过激光扫描反射提供三维空间点云数据及物体反射率，为定位、导航、避障等提供有力的保障。

主要参数：

360°水平视场角；
30°垂直视场角，16线平均分布；
150米探测距离；
帧率5Hz/10Hz/20Hz；
出点数288,000pts/s(单回波) 576,000pts/s(双回波)；
以太网UDP通信；
工作电压9V – 32V，日常12V即可；

我们这里主要是使用它代替单线雷达，用于室外机器人建图和导航，以应对地面不平等相对室内更复杂的场景。

二、准备工作

1. 雷达连线

连接Lemo连接器：

物理连线：

2. 网络配置

RS16雷达的出厂网络配置默认雷达自身ip为192.168.1.200，电脑ip为192.168.1.102。故为了成功连接雷达，需修改本机的网络配置，即静态Ip地址设置为192.168.1.102，网关为192.168.1.1。

由于我是从网上买的旧雷达，雷达IP卖家也不知道被改成什么鬼了，所以这里先插上lidar的网线，用tcpdump抓包看下，可以看到lidar在发送arp，寻找10.7.5.10，而它自己是10.7.5.100：

在Network-Wired里新建一个名为RoboSense16的有线网络，IPv4手动设置为10.7.5.10，保存后点击连接：

查看ip配置是否生效，并ping 10.7.5.100雷达ip看能否ping通：

能ping通后，再tcpdump抓包确认下这个旧lidar的端口有没有被改过，从下图可以看到6699/7788默认端口在发送1248长度的数据：

三、雷达调试

1. RS Lidar SDK与ROS包

# 配置ros源(ustc的源最好最快)
sudo sh -c '. /etc/lsb-release && echo "deb [arch=$(dpkg --print-architecture)] http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
# 添加公钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# 安装ros桌面版
sudo apt update
sudo apt install ros-noetic-desktop-full
# 设置环境
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# 安装依赖
sudo apt install libpcap-dev libyaml-cpp-dev python-catkin-tools
# 准备源码
mkdir -p ~/catkin_ws/src
cd catkin_ws/src/
# git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git
git clone https://github.com/yanjingang/rslidar_sdk.git
# 更新驱动依赖
cd rslidar_sdk
git submodule init
git submodule update
# 编译
cd ~/catkin_ws
catkin_make

# source
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
echo $ROS_PACKAGE_PATH

2. 修改ROS配置

$ vim config/config.yaml
common:
  msg_source: 1                                         #0: not use Lidar
                                                        #1: packet message comes from online Lidar
                                                        #2: packet message comes from ROS or ROS2
                                                        #3: packet message comes from Pcap file
                                                        #4: packet message comes from Protobuf-UDP
                                                        #5: point cloud comes from Protobuf-UDP
  send_packet_ros: true                                #true: Send packets through ROS or ROS2(Used to record packet)
  send_point_cloud_ros: true                            #true: Send point cloud through ROS or ROS2
  send_packet_proto: false                              #true: Send packets through Protobuf-UDP
  send_point_cloud_proto: false                         #true: Send point cloud through Protobuf-UDP
  pcap_path: /home/work/lidar.pcap                 #The path of pcap file

lidar:
  - driver:
      lidar_type: RS16            #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS
      frame_id: /rslidar           #Frame id of message
      msop_port: 6699              #Msop port of lidar
      difop_port: 7788             #Difop port of lidar
      start_angle: 0               #Start angle of point cloud
      end_angle: 360               #End angle of point cloud 
      min_distance: 0.2            #Minimum distance of point cloud
      max_distance: 200            #Maximum distance of point cloud
      use_lidar_clock: false       #True--Use the lidar clock as the message timestamp
                                   #False-- Use the system clock as the timestamp  
    ros:
      ros_recv_packet_topic: /rslidar_packets          #Topic used to receive lidar packets from ROS
      ros_send_packet_topic: /rslidar_packets          #Topic used to send lidar packets through ROS
      ros_send_point_cloud_topic: /rslidar_points      #Topic used to send point cloud through ROS
    proto:
      point_cloud_recv_port: 60021                     #Port number used for receiving point cloud 
      point_cloud_send_port: 60021                     #Port number which the point cloud will be send to
      msop_recv_port: 60022                            #Port number used for receiving lidar msop packets
      msop_send_port: 60022                            #Port number which the msop packets will be send to 
      difop_recv_port: 60023                           #Port number used for receiving lidar difop packets
      difop_send_port: 60023                           #Port number which the difop packets will be send to 
      point_cloud_send_ip: 127.0.0.1                   #Ip address which the point cloud will be send to 
      packet_send_ip: 127.0.0.1                        #Ip address which the lidar packets will be send to

3. 重新编译并查看点云

# 手动编译（需要手动启动roscore、rviz才能看到可视化点云结果）
 cd ~/catkin_ws/src/rslidar_sdk
mkdir build && cd build
cmake .. && make -j4
./rslidar_sdk_node

# ros1编译（一键启动和查看）
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
roslaunch rslidar_sdk start.launch

# ros2编译（一键启动和查看）
cd ~/ros2_ws/src
git clone https://github.com/RoboSense-LiDAR/rslidar_msg.git
git clone -b ros2 https://github.com/yanjingang/rslidar_sdk.git
colcon build
source ~/catkin_ws/install/setup.bash
ros2 launch rslidar_sdk start.py