RoboSense RS-LiDAR-M1, User Manual, Page: 36 / 54

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RS-LiDAR-M1 User Guide
secondary development needs, or users who want to directly use ROS or ROS2 for
secondary development, can directly use this software package to view the point cloud
with the RVIZ visualization tool that comes with ROS or ROS2. For users who have further
secondary development needs and want to integrate the LiDAR driver into their own
projects, please refer to the relevant documentation of the LiDAR driver kernel and directly
use the kernel rs_driver for secondary development.
You can download the rsliar_sdk.tar.gz package from our official account on GitHub:
https://github.com/RoboSense-LiDAR/rslidar_sdk/releases
Note: Downloading the source code will not include the rs_driver parsing kernel,
users need to download and add it manually.
B.2.1 Install Dependent Libraries
B.2.1.1 ROS Environment
To use the LiDAR driver in ROS environment, users need to install ROS related dependent
libraries
Ubuntu 16.04 - ROS kinetic desktop-full
Ubuntu 18.04 - ROS melodic desktop-full
Installation method: refer to http://wiki.ros.org
If ROS kinetic desktop-full or ROS melodic desktop-full is installed, other dependent
libraries of compatible versions should also be installed at the same time, so there is no
need to reinstall them to avoid problems caused by multiple version conflicts. Therefore,
it is strongly recommended to install the desktop-full version, which will save a lot of time
to install and configure the libraries one by one.
B.2.1.2 ROS2 Environment
To use the LiDAR driver in ROS2 environment, users need to install ROS2 related
dependent libraries
Ubuntu 16.04 - not supported
Ubuntu 18.04 - ROS2 Eloquent desktop
Installation method: refer to https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-
Install-Debians/
Note: Please avoid installing ROS and ROS2 on the same computer at the same time,
this may cause conflicts! You also need to install the Yaml library manually.
B.2.2 Compile and Run rslidar_sdk
rslidar_sdk can be compiled and run in three different ways.
B.2.1.1 Direct Compilation
Follow the instructions below, users can directly compile and run the program. Direct