RoboSense RS-Ruby Lite, User Manual, Page: 47 / 104

RS-Ruby Lite Users’ Manual
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In terminal, build the project:
cd ~/catkin_ws
catkin_make
3. ROS2 compile environment
Create ros2 workspace:
cd ~
mkdir -p catkin_ws/src
Copy the corresponding rslidar_sdk into the ROS2 workspace under the path: ~/catkin_ws/src.
Open file CMakeLists.txt, then modify the set(COMPILE_METHOD ORIGINAL) on the top of
document to set(COMPILE_METHOD CATKIN). Meanwhile, rename the package_ros2.xml to
package.xml.
In terminal, build the project:
cd ~/catkin_ws
conlcon build
D.3 Configure PC IP address
For the default RS-Ruby Lite firmware, static IP address of PC is configured to
“192.168.1.102”, submask: “255.255.255.0”, gateway doesn’t need configuration.
After configuring the static IP, it can be examined in Terminal with code ifconfig.
D.4 Display of the real-time data
In rslidar_sdk, there are explicitly instruction document to guide visualization of point cloud in
ROS or ROS2 environment. Here, ROS environment is as the example.
1. Connect the RS-Ruby Lite to PC via twister pair wire with RJ45 connector, power on, then
wait for PC to recognize LiDAR.
2. Use the launch file in rslidar_sdk to run the node of visualization, this launch file locate in
rslidar_sdk/launch/start.launch. Open a terminal, Enter the commands as below:
cd ~/catkin_ws
source devel/setup.bash
roslaunch rslidar_sdk start.launch