1 rs_driver

中文介绍

1.1 Introduction

rs_driver is the driver kernel for the RoboSense LiDARs.

Please download the official release from github, or get the latest version with the git client tool.

git clone https://github.com/RoboSense-LiDAR/rs_driver.git

1.2 Supported LiDARs

Below are the supported LiDARS.

• 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-EMX
• RS-LiDAR-AIRY
• RS-LiDAR-FAIRY

1.3 Supported Platforms

rs_driver is supported on the following platforms and compilers. Note the compiler should support C++14.

• Ubuntu (16.04, 18.04, 20.04, 22.04)

  • gcc (4.8+)

• Windows

  • MSVC ( tested with Win10 / VS2019)

1.4 Dependency Libraries

rs_driver depends on the following third-party libraries.

• libpcap (optional, needed to parse PCAP file)
• Eigen3 (optional, needed to use the internal transformation function)
• PCL (optional, needed to build the visualization tool)
• Boost (optional, needed to build the visualization tool)

1.5 Compile On Ubuntu

1.5.1 Dependency Libraries

sudo apt-get install libpcap-dev libeigen3-dev libboost-dev libpcl-dev

1.5.2 Compilation

cd rs_driver
mkdir build && cd build
cmake .. && make -j4

1.5.3 Installation

sudo make install

1.5.4 Use rs_driver as a third party library

In your CMakeLists.txt, find the rs_driver package and link to it .

find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(your_project ${rs_driver_LIBRARIES})

1.5.5 Use rs_driver as a submodule

Add rs_driver into your project as a submodule.

In your CMakeLists.txt, find the rs_driver package and link to it .

add_subdirectory(${PROJECT_SOURCE_DIR}/rs_driver)
find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(your_project ${rs_driver_LIBRARIES})

1.6 Compile On Windows

1.6.1 Dependency Libraries

1.6.1.1 libpcap

Install libpcap runtime library.

Unzip libpcap's developer's pack to your favorite location, and add the path to the folder WpdPack_4_1_2/WpdPack to the environment variable PATH .

1.6.1.2 PCL

To compile with VS2019, please use the official installation package PCL All-in-one installer.

Select the "Add PCL to the system PATH for xxx" option during the installation.

1.6.2 Installation

Installation is not supported on Windows.

1.7 Quick Start

rs_driver offers two demo programs in rs_driver/demo.

• demo_online.cpp

  demo_online connects to online lidar, and output point cloud.

• demo_pcap.cpp

  demo_pcap parses pcap file, and output point cloud. It is based on libpcap.

To build demo_online and demo_pcap, enable the CMake option COMPILE_DEMOS.

cmake -DCOMPILE_DEMOS=ON ..

For more info about demo_online, Please refer to Decode online LiDAR

For more info about demo_pcap, Please refer to Decode pcap file

1.8 Visualization of Point Cloud

rs_driver offers a visualization tool rs_driver_viwer in rs_driver/tool , which is based on PCL.

To build it, enable the CMake option CMOPILE_TOOLS.

cmake -DCOMPILE_TOOLS=ON ..

For more info about rs_driver_viewer, please refer to Visualization tool guide

1.9 API files

For more info about the rs_driver API, Please refer to:

• Point Cloud message definition: rs_driver/src/rs_driver/msg/point_cloud_msg.hpp, rs_driver/src/rs_driver/msg/pcl_point_cloud_msg.hpp
• API definition: rs_driver/src/rs_driver/api/lidar_driver.hpp
• Parameters definition: rs_driver/src/rs_driver/driver/driver_param.hpp,
• Error code definition: rs_driver/src/rs_driver/common/error_code.hpp

1.10 More Topics

For more topics, Please refer to:

• What is available in the rs_driver project? Include examples, tools, documents.

  Please seeDirectories and Files

• There are two versions of rs_driver: v1.3.x and v1.5.x. Which is suggested? Is it suggested to upgrade to v1.5.x ? How to upgrade?

  Please seeHow to port from v1.3.x to v1.5.x

• How to compile rs_driver on Windows ?

  Please seeHow to compile rs_driver on Windows

• What is the interface of rs_driver like ? How to integrate it into my system?

  Please seeThread Model and Interface

• Is there any examples about how to integrate rs_driver ? And if mulitple LiDARs?

  Please seeHow to connect to online LiDAR，How to decode PCAP file。

• How to configure rs_driver's network options in unicast/multicast/broadcast mode? And if mulitple Lidars? With VLAN layer? May I add extra layers before/after MSOP/DIFOP packet? All configurations are OK, and Wireshark/tcpdump can capture the packets, but rs_driver still fails to get them. Why ?

  Please seeOnline LiDAR - Advanced Topics

• To decode a PCAP file with only one LiDAR data, how to configure rs_driver? And if multiple LiDARs? With VLAN layer? With extra layers before/after MSOP/DIFOP packet?

  Please seePCAP File - Advanced Topics

• Can I determine how to configure rs_driver by a PCAP file? For both online LiDAR and PCAP file?

  Please seeHow to configure rs_driver by PCAP file

• What format of PCAP file is supported by rs_driver? How to capture such a file?

  Please seeHow to capture a PCAP file for rs_driver

• How to compile demo apps/tools? How to avoid packet loss? How much is CPU usage? Point cloud is UTC time. How to convert it to loca time? How to disable PCAP file decoding on embedded Linux? How to enable point transformation?

  Please seers_driver CMake Macros

• How to specify Lidar type? How to specify data source (online LiDAR, PCAP file, user's data) ? How to timestamp point cloud with LiDAR clock or Host clock? How to discard NAN points in point cloud? Where does point cloud get its timestamp? from its first point, or last point? How to configure point transform? How to change the splitting angle of mechanical LiDAR?

  Please seers_driver configuration parameters

• rs_driver reports an error ERRCODE_MSOPTIMEOUT/ERRCODE_WRONGMSOPID/ERRCODE_PKTBUFOVERFLOW ...... What does it mean?

  Please seers_driver Error Code

• How to transform point cloud to another position?

  Please seeHow to transform point cloud

• How much is data flow of RoboSense LiDARs ? When may it loss packets? How to avoid this?

  Please seeHow to avoid packet Loss

• How much CPU and memory does rs_driver need？

  Please seeCPU Usage and Memory Usage of rs_driver

• What is point layout like? What's the coordinate system of rs_driver? What is ring of point? Where is point timestamp from?

  Please seePoint Layout in point cloud

• How does RoboSense split frames? It uses the UDP protocol. What if packet loss or out of order?

  Please seeSplitting frames

• Want to know more implementation details about rs_driver?

  Please seeAnalysis of rs_driver's source code