RoboSense RS-Bpearl, User Manual

Page: 50 / 56

45
RS-Bpearl User Manual
rviz
3. Open a new terminal:
Set the Fixed Frame to "rslidar", add a Pointcloud2 type and set the
topic to "rslidar_points".
Figure D - 1. Display point cloud Data in Rviz.
D.5 Offline Display the recorded PCAP File
The ros_rslidar ROS package can be also use to display the recorded. Pcap offline data.
1. Modify the “rs_Bpearl.launch” file like below (please pay attention to the red codeline):
<launch>
<arg name="model" default="RS-BPearl" />
<arg name="device_ip" default="192.168.1.200" />
<arg name="msop_port" default="6699" />
<arg name="difop_port" default="7788" />
<arg name="lidar_param_path" default="$(find rslidar_pointcloud)/data/rs_lidar_Bpearl/"/>
<node name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >
<param name="model" value="$(arg model)"/>
<param name="device_ip" value="$(arg device_ip)" />
<param name="msop_port" value="$(arg msop_port)" />
<param name="difop_port" value="$(arg difop_port)"/>
<param name="pcap" value="
指向
.pcap
的绝对路径
"/>
</node>
<node name="cloud_node" pkg="rslidar_pointcloud" type="cloud_node" output="screen" >
<param name="model" value="$(arg model)"/>
<param name="curves_path" value="$(arg lidar_param_path)/curves.csv" />
<param name="angle_path" value="$(arg lidar_param_path)/angle.csv" />
<param name="channel_path" value="$(arg lidar_param_path)/ChannelNum.csv" />