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RS-Ruby Lite Users’ Manual
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Appendix D RS-Ruby Lite ROS&ROS2 Package
This appendix describes how to use ROS or ROS2 to acquire and visualize
the measuring data from RS-Ruby Lite.
D .1 Software Installation
1. Download and Install Ubuntu 16.04 or Ubuntu18.04 OS.(ROS2 can be used on
Ubuntu18.04)
2. For ROS: Please refer to the link (http://wiki.ros.org/kinetic/Installation/Ubuntu) to install the
ROS Kinetic . (For user of Ubuntu18.04, please install ROS-melodic)
FOR ROS2: Please refer to the link (https://index.ros.org/doc/ros2/Installation/Eloquent/) to
install the ROS2 Eloquent.
3. Download and install libpcap-dev.
D.2 Download & Compile RS-Ruby Lite ROS Package
The LiDAR driver can be downloaded in
https://github.com/RoboSense-LiDAR/rslidar_sdk or
contact RoboSense technical support. After download, please read the README in driver
packet carefully , it can lead user to know how to compile and use LiDAR driver.
rslidar_sdk is the newest LiDAR driver, it supports our 5 mechanical LiDARs (RS-16, RS-32,
RS-Bp, RS-Ruby, RS-Ruby Lite) at this moment. There are 3 compile modes:
1. Directly compile
Enter the main directory of rslidar_sdk packet, then create a build folder to compile complete
project.
mkdir build
cd build
cmake .. && make
./rslidar_sdk_node
2. ROS compile environment
Create a workspace for ROS:
cd ~
mkdir -p catkin_ws/src
Copy the corresponding rslidar_sdk into the ROS 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_ros1.xml to
package.xml.