Cepton Sora 200, Руководство пользователя

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ROS
Getting Started
First, read the main Getting Started guide.
Installation
If you have not done so already, install ROS, and create a catkin workspace .
Change to the catkin workspace directory.
Clone the Cepton ROS driver .
$ git clone --recursive git@github.com:ceptontech/cepton_ros.git src/cepton_ros
Run catkin make.
$ catkin_make
Source the catkin setup script.
$ source devel/setup.bash
Running the demo
Ensure that the sensor is powered on and connected to the host computer.
Launch
roscore
.
$ roscore
In a separate terminal, launch
demo_single.launch
.
$ roslaunch cepton_ros demo_single.launch
A rviz window should popup showing the sensor point cloud.
Driver
To view the driver arguments pass the
--ros-args
option.
$ roslaunch --ros-args cepton_ros driver_single.launch
Using multiple sensors
Create a transforms JSON file (see Transforms ). Launch the
driver_multi.launch
file.
$ roslaunch cepton_ros driver_multi.launch transforms_path:=TRANSFORMS.json
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