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RoboSense-LiDAR / rslidar_sdk

RoboSense LiDAR SDK for ROS & ROS2
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Problem with rs_driver_viewer and ros #136

Open wongearth opened 6 months ago

wongearth commented 6 months ago

  1. I am running rslidar_sdk on ubuntu20.04. The build process went fine. But when I run the rs_driver-viewer, the point cloud collapses onto a plane.

  2. I tried to run on ROS by following the instruction. I ran /.rslidar_sdk_node but the error message ERRCODE_NODIFOPRECV occurred below.

Any solutions? please help?!

mc@mc-MSI:~/catkin_ws/src/rslidar_sdk/build/devel/lib/rslidar_sdk$ ./rslidar_sdk_node

** RSLidar_SDK Version: v1.5.10 **

Receive Packets From : Online LiDAR Screenshot from 2024-03-01 13-28-28

Msop Port: 6699 Difop Port: 7788

         RoboSense Driver Parameters

input type: ONLINE_LIDAR lidar_type: RSHELIOS frame_id: rslidar

         RoboSense Input Parameters

msop_port: 6699 difop_port: 7788 host_address: 0.0.0.0 group_address: 0.0.0.0 pcap_path: /home/robosense/lidar.pcap pcap_rate: 1 pcap_repeat: 1 use_vlan: 0 user_layer_bytes: 0 tail_layer_bytes: 0

         RoboSense Decoder Parameters

wait_for_difop: 1 min_distance: 0.2 max_distance: 150 start_angle: 0 end_angle: 360 use_lidar_clock: 0 dense_points: 0 config_from_file: 0 angle_path: split_frame_mode: 1 split_angle: 0 num_blks_split: 0

         RoboSense Transform Parameters

x: 0 y: 0 z: 0 roll: 0 pitch: 0 yaw: 0

Send Packets To : ROS Msop Topic: /rslidar_packets

Send PointCloud To : ROS PointCloud Topic: /rslidar_points

RoboSense-LiDAR-Driver is running..... ERRCODE_NODIFOPRECV ERRCODE_NODIFOPRECV ERRCODE_NODIFOPRECV

FelixHuang18 commented 1 week ago

It seems to be caused by not receiving the DIFOP packet. You need to check that the DIFOP port number is correctly set.