RoboSense RS-LiDAR-M1, Руководство пользователя, Страница: 35 / 54

·
RS-LiDAR-M1 User Guide
$cd rs_driver
$mkdir build && cd build
$cmake .. && make -j4
$sudo make install
B.1.2.2 Use as a Submodule
When rs_driver is used as a submodule, the following commands need to be added
to the CMakeLists.txt file. (add rs_driver as a submodule to the project, use the
find_package() instruction to find rs_driver, and then link the relevant library)
add_subdirectory(${PROJECT_SOURCE_DIR}/rs_driver)
find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
target_link_libraries(project ${rs_driver_LIBRARIES})
B.1.3 Demo Programs & Visualization Tools
B.1.3.1 Demo Programs
rs_driver provides two demo programs. Users can refer to the demo programs to write
code, call interfaces and store them in rs_driver/demo:
demo_online.cpp
demo_pcap.cpp
To compile the two demo programs, users can add the parameters when executing
the CMake configuration.
$cmake -DCOMPILE_DEMOS=ON ..
B.1.3.2 Visualization Tools
rs_driver provides a point cloud visualization tool based on PCL, which is stored in
rs_driver/tool:
rs_driver_viewer.cpp
To compile the two demo programs, users can add the parameters when executing
the CMake configuration.
$cmake -DCOMPILE_TOOLS=ON ..
B.1.4 Coordinate Transformation
rs_driver provides a built-in coordinate transformation feature, which can directly
output the point cloud after coordinate transformation, which saves users the time-
consuming extra operations of coordinate transformation on the point cloud. If you want
to enable this feature, add the parameters when executing CMake configuration:
$cmake -DENABLE_TRANSFORM=ON ..
B.2 Compile and Install rslidar_sdk
rslidar_sdk is the LiDAR driver software package of RoboSense in the Ubuntu
environment, including the LiDAR driver kernel, ROS expansion function, ROS2
expansion function, and Protobuf-UDP communication expansion features. Users without