RoboSense RS-LiDAR-M1, Руководство пользователя, Страница: 33 / 54

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RS-LiDAR-M1 User Guide
Appendix B Driver & SDK
B.1 Compile and Install rs_ driver
RS Driver provides a cross-platform LiDAR driver kernel for RoboSense LiDAR
products, which is convenient for users to re-develop and use. The driver kernel of
v1.3.0 and later versions already support analysis and transformation of RS-LiDAR-M1
point cloud. Users can download the rs_driver package from our official account on
GitHub: https://github.com/RoboSense-LiDAR/rs_driver
rs_driver currently supports the following systems and compilers:
 Windows
 MSVC (VS2017 & VS2019 tested)
 Mingw-w64 (x86_64-8.1.0-posix-seh-rt_v6-rev0 tested)
 Ubuntu (16.04, 18.04, 20.04)
 gcc (4.8+)
B.1.1 Install Dependent Libraries
rs_driver depends on the following third-party libraries, which need to be installed
before compilation:
 Boost
 Pcap
 PCL (not required, can be ignored if visualization tools are not needed)
 Eigen3 (not required, can be ignored if built-in coordinate transformation is not
needed)
Install the above dependent libraries in Ubuntu:
$sudo apt-get install libboost-dev libpcap-dev libpcl-dev libeigen3-dev
Install the above dependent libraries in Windows:
 Boost
The Boost library needs to be compiled from source code under Windows, please refer to
the
official guide
( https://www.boost.org/doc/libs/1_67_0/more/getting_started/windows.html ) After
compiling and installing, add the path of Boost to the system environment variable
BOOST_ROOT, see Figure B-1 below. If you use MSVC, you can also choose to directly
download the pre-compiled installation package of the corresponding version.