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FelixHuang18FelixHuang18
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Merge branch 'main' into ros-queue-length-as-param
2 parents addd294 + b8fe130 commit 0c6f441

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‎.gitmodules‎

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[submodule "src/rs_driver"]
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path = src/rs_driver
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url = https://github.com/RoboSense-LiDAR/rs_driver.git
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branch = main
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url = ../rs_driver.git

‎CHANGELOG.md‎

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# CHANGELOG
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## v1.5.17 2025-02-14
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### Added
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- Support RSAIRY.
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- Support parsing IMU data for RSAIRY and RSE1.
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- Support parsing IMU extrinsics parameters frome difop for RSAIRY.
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### Changed
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- Add feature attribute to point type.
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- Updated config file.
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- Update help document.
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- Update block_time_offset as us for RSE1
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### Fixed
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- Fix the issue of packets subscription failure under ros2.
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## v1.5.16 2024-08-27
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### Added
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- Load config path frome ros2 param.

‎CMakeLists.txt‎

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@@ -3,14 +3,13 @@ cmake_policy(SET CMP0048 NEW)
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project(rslidar_sdk)
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#=======================================
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# Custom Point Type (XYZI, XYZIRT)
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# Custom Point Type (XYZI,XYZIRT, XYZIF, XYZIRTF)
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#=======================================
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set(POINT_TYPE XYZI)
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option(ENABLE_TRANSFORM "Enable transform functions" OFF)
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if(${ENABLE_TRANSFORM})
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add_definitions("-DENABLE_TRANSFORM")
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find_package(Eigen3 REQUIRED)
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include_directories(${EIGEN3_INCLUDE_DIR})
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endif(${ENABLE_TRANSFORM})
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add_definitions("-DENABLE_SOURCE_PACKET_LEGACY")
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endif(${ENABLE_SOURCE_PACKET_LEGACY})
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option(ENABLE_IMU_DATA_PARSE "Enable imu data parse" OFF)
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if(${ENABLE_IMU_DATA_PARSE})
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message(=============================================================)
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message("-- Enable imu data parse")
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message(=============================================================)
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add_definitions("-DENABLE_IMU_DATA_PARSE")
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endif(${ENABLE_IMU_DATA_PARSE})
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#========================
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# Project details / setup
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#========================
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add_definitions(-DPOINT_TYPE_XYZI)
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elseif(${POINT_TYPE} STREQUAL "XYZIRT")
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add_definitions(-DPOINT_TYPE_XYZIRT)
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elseif(${POINT_TYPE} STREQUAL "XYZIF")
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add_definitions(-DPOINT_TYPE_XYZIF)
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elseif(${POINT_TYPE} STREQUAL "XYZIRTF")
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add_definitions(-DPOINT_TYPE_XYZIRTF)
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endif()
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message(=============================================================)

‎README.md‎

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@@ -34,6 +34,7 @@ To integrate the Lidar driver into your own projects, please use the rs_driver.
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- RS-LiDAR-M3
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- RS-LiDAR-E1
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- RS-LiDAR-MX
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- RS-LiDAR-AIRY
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### 1.2 Point Type Supported
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‎README_CN.md‎

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- RS-LiDAR-M3
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- RS-LiDAR-E1
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- RS-LiDAR-MX
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- RS-LiDAR-AIRY
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### 1.1.2 支持的点类型
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‎config/config.yaml‎

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common:
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msg_source: 1 #0: not use Lidar
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#1: packet message comes from online Lidar
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#2: packet message comes from ROS or ROS2
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#3: packet message comes from Pcap file
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send_packet_ros: false #true: Send packets through ROS or ROS2(Used to record packet)
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send_point_cloud_ros: true #true: Send point cloud through ROS or ROS2
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msg_source: 1 # 0: not use Lidar
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# 1: packet message comes from online Lidar
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# 2: packet message comes from ROS or ROS2
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# 3: packet message comes from Pcap file
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send_packet_ros: false # true: Send packets through ROS or ROS2(Used to record packet)
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send_point_cloud_ros: true # true: Send point cloud through ROS or ROS2
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lidar:
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- driver:
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lidar_type: RSM1 #LiDAR type - RS16, RS32, RSBP, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48,
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# RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX.
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msop_port: 6699 #Msop port of lidar
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difop_port: 7788 #Difop port of lidar
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start_angle: 0 #Start angle of point cloud
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end_angle: 360 #End angle of point cloud
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wait_for_difop: true
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min_distance: 0.2 #Minimum distance of point cloud
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max_distance: 200 #Maximum distance of point cloud
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use_lidar_clock: false #True--Use the lidar clock as the message timestamp
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#False-- Use the system clock as the timestamp
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lidar_type: RSM1 # LiDAR type - RS16, RS32, RSBP, RSAIRY, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48,
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# RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX.
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msop_port: 6699 # Msop port of lidar
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difop_port: 7788 # Difop port of lidar
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imu_port: 0 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
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# If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt
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user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0
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tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0
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min_distance: 0.2 # Minimum distance of point cloud
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max_distance: 200 # Maximum distance of point cloud
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use_lidar_clock: true # true--Use the lidar clock as the message timestamp
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# false-- Use the system clock as the timestamp
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dense_points: false # true: discard NAN points; false: reserve NAN points
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ts_first_point: true # true: time-stamp point cloud with the first point; false: with the last point;
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# these parameters are used from mechanical lidar
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start_angle: 0 # Start angle of point cloud
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end_angle: 360 # End angle of point cloud
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# When msg_source is 3, the following parameters will be used
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pcap_repeat: true # true: The pcap bag will repeat play
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pcap_rate: 1.0 # Rate to read the pcap file
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pcap_path: /home/robosense/lidar.pcap #The path of pcap file
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ros:
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ros_frame_id: rslidar #Frame id of packet message and point cloud message
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ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
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ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
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ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS
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ros_send_point_cloud_topic: /rslidar_points #Topic used to send point cloud through ROS
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ros_queue_length: 100 #Topic QoS history depth

‎doc/howto/05_how_to_change_point_type.md‎

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```cmake
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#=======================================
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# Custom Point Type (XYZI, XYZIRT)
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# Custom Point Type (XYZI,XYZIRT, XYZIF, XYZIRTF)
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#=======================================
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set(POINT_TYPE XYZI)
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```
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rslidar_sdk transforms point cloud of `PointXYZI` to ROS message of `PointCloud2`，and publish it.
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```c++
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sensor_msgs::PointCloud2 ros_msg;
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addPointField(ros_msg, "x", 1, sensor_msgs::PointField::FLOAT32, offset);
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addPointField(ros_msg, "y", 1, sensor_msgs::PointField::FLOAT32, offset);
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addPointField(ros_msg, "z", 1, sensor_msgs::PointField::FLOAT32, offset);
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addPointField(ros_msg, "intensity", 1, sensor_msgs::PointField::FLOAT32, offset);
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sensor_msgs::PointCloud2 ros_msg;
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int offset = 0;
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offset = addPointField(ros_msg, "x", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "y", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "z", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "intensity", 1, sensor_msgs::PointField::FLOAT32, offset);
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//
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// copy points from point cloud of `PointXYZI` to `PointCloud2`
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rslidar_sdk transforms point cloud of `PointXYZIRT` to ROS message of `PointCloud2`，and publish it.
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```c++
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sensor_msgs::PointCloud2 ros_msg;
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addPointField(ros_msg, "x", 1, sensor_msgs::PointField::FLOAT32, offset);
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addPointField(ros_msg, "y", 1, sensor_msgs::PointField::FLOAT32, offset);
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addPointField(ros_msg, "z", 1, sensor_msgs::PointField::FLOAT32, offset);
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addPointField(ros_msg, "intensity", 1, sensor_msgs::PointField::FLOAT32, offset);
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#ifdef POINT_TYPE_XYZIRT
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sensor_msgs::PointCloud2Iterator<uint16_t> iter_ring_(ros_msg, "ring");
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sensor_msgs::PointCloud2Iterator<double> iter_timestamp_(ros_msg, "timestamp");
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sensor_msgs::PointCloud2 ros_msg;
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int offset = 0;
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offset = addPointField(ros_msg, "x", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "y", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "z", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "intensity", 1, sensor_msgs::PointField::FLOAT32, offset);
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#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
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offset = addPointField(ros_msg, "ring", 1, sensor_msgs::PointField::UINT16, offset);
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offset = addPointField(ros_msg, "timestamp", 1, sensor_msgs::PointField::FLOAT64, offset);
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#endif
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//
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...
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```
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## 5.4 XYZIF
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If `POINT_TYPE` is `XYZIF`, rslidar_sdk uses the RoboSense defined type as below.
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```c++
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struct PointXYZIF
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{
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float x;
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float y;
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float z;
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uint8_t intensity;
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uint16_t ring;
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double timestamp;
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};
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```
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rslidar_sdk transforms point cloud of `PointXYZIF` to ROS message of `PointCloud2`，and publish it.
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```c++
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sensor_msgs::PointCloud2 ros_msg;
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int offset = 0;
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offset = addPointField(ros_msg, "x", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "y", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "z", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "intensity", 1, sensor_msgs::PointField::FLOAT32, offset);
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#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
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offset = addPointField(ros_msg, "feature", 1, sensor_msgs::PointField::UINT8, offset);
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#endif
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//
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// copy points from point cloud of `PointXYZIF` to `PointCloud2`
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//
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...
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```
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## 5.5 XYZIRTF
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If `POINT_TYPE` is `XYZIRTF`, rslidar_sdk uses the RoboSense defined type as below.
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```c++
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struct PointXYZIRTF
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{
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float x;
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float y;
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float z;
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uint8_t intensity;
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uint16_t ring;
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double timestamp;
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};
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```
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rslidar_sdk transforms point cloud of `PointXYZIRTF` to ROS message of `PointCloud2`，and publish it.
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```c++
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sensor_msgs::PointCloud2 ros_msg;
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int offset = 0;
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offset = addPointField(ros_msg, "x", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "y", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "z", 1, sensor_msgs::PointField::FLOAT32, offset);
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offset = addPointField(ros_msg, "intensity", 1, sensor_msgs::PointField::FLOAT32, offset);
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#if defined(POINT_TYPE_XYZIRT) || defined(POINT_TYPE_XYZIRTF)
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offset = addPointField(ros_msg, "ring", 1, sensor_msgs::PointField::UINT16, offset);
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offset = addPointField(ros_msg, "timestamp", 1, sensor_msgs::PointField::FLOAT64, offset);
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#endif
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#if defined(POINT_TYPE_XYZIF) || defined(POINT_TYPE_XYZIRTF)
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offset = addPointField(ros_msg, "feature", 1, sensor_msgs::PointField::UINT8, offset);
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#endif
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//
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// copy points from point cloud of `PointXYZIRTF` to `PointCloud2`
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//
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...
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```
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