1 rslidar_sdk

中文介绍

1 Introduction

rslidar_sdk is the Software Development Kit of the RoboSense Lidar based on Ubuntu. It contains:

• The lidar driver core rs_driver,
• The ROS support,
• The ROS2 support,

To get point cloud through ROS/ROS2, please just use this SDK.

To integrate the Lidar driver into your own projects, please use the rs_driver.

1.1 LiDAR Supported

• RS-LiDAR-16
• RS-LiDAR-32
• RS-Bpearl
• RS-Helios
• RS-Helios-16P
• RS-Ruby-128
• RS-Ruby-80
• RS-Ruby-48
• RS-Ruby-Plus-128
• RS-Ruby-Plus-80
• RS-Ruby-Plus-48
• RS-LiDAR-M1
• RS-LiDAR-M2
• RS-LiDAR-M3
• RS-LiDAR-E1
• RS-LiDAR-MX
• RS-LiDAR-AIRY

1.2 Point Type Supported

• XYZI - x, y, z, intensity
• XYZIRT - x, y, z, intensity, ring, timestamp

2 Download

2.1 Download via Git

Download the rslidar_sdk as below. Since it contains the submodule rs_driver, please also use git submodule to download the submodule properly.

git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git
cd rslidar_sdk
git submodule init
git submodule update

2.2 Download directly

Instead of using Git, user can also access rslidar_sdk_release to download the latest version of rslidar_sdk.

Please download the rslidar_sdk.tar.gz archive instead of Source code. The Source code zip file does not contain the submodule rs_driver, so it has to be downloaded manaully.

3 Dependencies

3.1 ROS

To run rslidar_sdk in the ROS environment, please install below libraries.

• Ubuntu 16.04 - ROS Kinetic desktop
• Ubuntu 18.04 - ROS Melodic desktop
• Ubuntu 20.04 - ROS Noetic desktop

For installation, please refer to http://wiki.ros.org.

It’s highly recommanded to install ros-distro-desktop-full. If you do so, the corresponding libraries, such as PCL, will be installed at the same time.

This brings a lot of convenience, since you don’t have to handle version conflict.

3.2 ROS2

To use rslidar_sdk in the ROS2 environment, please install below libraries.

• Ubuntu 16.04 - Not supported
• Ubuntu 18.04 - ROS2 Eloquent desktop
• Ubuntu 20.04 - ROS2 Galactic desktop
• Ubuntu 22.04 - ROS2 Humble desktop

For installation, please refer to https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Install-Debians/

Please do not install ROS and ROS2 on the same computer, to avoid possible conflict and manually install some libraries, such as Yaml.

3.3 Yaml (Essential)

version: >= v0.5.2

If ros-distro-desktop-full is installed, this step can be skipped

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CHANGELOG

v1.5.17 2025-02-14

Added

• Support RSAIRY.
• Support parsing IMU data for RSAIRY and RSE1.
• Support parsing IMU extrinsics parameters frome difop for RSAIRY.

Changed

• Add feature attribute to point type.
• Updated config file.
• Update help document.
• Update block_time_offset as us for RSE1

Fixed

• Fix the issue of packets subscription failure under ros2.

v1.5.16 2024-08-27

Added

• Load config path frome ros2 param.

  Changed

• Remove the original compilation method.

  Fixed

• Use single package.xml file for both ROS1 and ROS2 @Timple.
• Update msop protocol of RSMX.

v1.5.15 2024-08-07

Added

• Support RSM3.

v1.5.14 2024-07-15

Added

• Support multiple lidars with different multicast addresses and the same port.

  Fixed

• Fixed the bug that only one lidar was parsed correctly when multiple bp4.0 were used.
• Fix version number in the package.xml by @Timple.

v1.5.13 2024-05-10

Added

• Support RSMX.

  Fixed

• Update timestamp parsing unit and the number of packets per frame in decoder_RSE1.
• Update firing_tss of Helios/Helios16P/RubyPlus.
• Fix compilation bug of unit test.
• Remove duplicate text “/rslidar_packets” by @luhuadong.

v1.5.12 2023-12-28

Fixed

• Fix bug in getting device info and status.
• Fix bug in getting device temperature.

v1.5.11 2023-12-18

Changed

• Enable modify socket buffer size.

v1.5.10 - 2023-02-17

Changed

• Merge RSBPV4 into RSBP

v1.5.9 - 2023-02-17

Changed

• Increase sending DDS buffer queue to avoid packet loss

v1.5.8 - 2022-12-09

Added

• Support ROS2/Humble Hawksbill
• rename RSEOS as RSE1

Fixed

• Fix wrong widthxheight while ros_send_by_rows=true

v1.5.7 - 2022-10-09

Added

• Seperate RSBPV4 from RSBP
• Support to receive MSOP/DIFOP packet from rosbag v1.3.x
• Support option ros_send_by_rows

v1.5.6 - 2022-09-01

Added

• Add a few build options according to rs_driver
• Update help documents

v1.5.5 - 2022-08-01

Changed

• Output intensity in point cloud as float32

Fixed

• Fix compiling and runtime error on ROS2 Elequent

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