Repository Summary
Checkout URI | https://github.com/RoboSense-LiDAR/rslidar_sdk.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-02-19 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
Name | Version |
---|---|
rslidar_sdk | 1.5.16 |
README
1 rslidar_sdk
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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