RoboSense RS-LiDAR-M1, Руководство пользователя, Страница: 40 / 54

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RS-LiDAR-M1 User Guide
start_angle, end_angle: This parameter is temporarily disabled for RS-LiDAR-M1 .
The start angle and end angle of the point cloud message are set here as software
shielding, and the volume of the point cloud per frame cannot be reduced. Only the points
outside the area are set as NAN points. The range of the starting angle and ending angle
should be between 0 and 360°. (The starting angle can be greater than the ending angle).
min_distance, max_distance: The minimum distance and maximum distance of the
point cloud display are set here as software shielding. The volume of the point cloud per
frame cannot be reduced, and only the points outside the area are set as NAN points.
use_lidar_clock: true - use LiDAR time as message timestamp; false - use system time
as message timestamp.
B.2.3.3 Example of Multiple LiDAR Sensors
Connect 2 RS-LiDAR-M1 LiDAR sensors online and send the point cloud to ROS.
Attention: Indentation of LiDAR part parameters
common:
msg_source: 1 #Use online data messages
send_packet_ros: false
send_point_cloud_ros: true # Send point cloud rslidar_points data
send_packet_proto: false
send_point_cloud_proto: false
pcap_path: /home/robosense/lidar.pcap
lidar:
- driver:
lidar_type: RSM1
frame_id: /rslidar
msop_port: 6699
difop_port: 7788
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /middle/rslidar_packets
ros_send_packet_topic: /middle/rslidar_packets
ros_send_point_cloud_topic: /middle/rslidar_points
proto:
point_cloud_recv_port: 60021
point_cloud_send_port: 60021
msop_recv_port: 60022
msop_send_port: 60022
difop_recv_port: 60023
difop_send_port: 60023
point_cloud_send_ip: 127.0.0.1