simulacrus commented 3 years ago

Configuration rslidar_sdk


common:
msg_source: 1                                         #0: not use Lidar
                                                    #1: packet message comes from online Lidar
                                                    #2: packet message comes from ROS or ROS2
                                                    #3: packet message comes from Pcap file
                                                    #4: packet message comes from Protobuf-UDP
                                                    #5: point cloud comes from Protobuf-UDP
send_packet_ros: false                                #true: Send packets through ROS or ROS2(Used to record packet)
send_point_cloud_ros: true                            #true: Send point cloud through ROS or ROS2
send_packet_proto: false                              #true: Send packets through Protobuf-UDP
send_point_cloud_proto: false                         #true: Send point cloud through Protobuf-UDP
pcap_path: /home/robosense/lidar.pcap                 #The path of pcap file

lidar:

top lidr info

driver: lidar_type: RS32 #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS frame_id: /lidar_top #Frame id of message msop_port: 6690 #Msop port of lidar difop_port: 7789 #Difop port of lidar start_angle: 0 #Start angle of point cloud end_angle: 360 #End angle of point cloud min_distance: 0.2 #Minimum distance of point cloud max_distance: 200 #Maximum distance of point cloud use_lidar_clock: false #True--Use the lidar clock as the message timestamp
False-- Use the system clock as the timestamp

ros: ros_recv_packet_topic: /rslidar_top_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_top_packets #Topic used to send lidar packets through ROS ros_send_point_cloud_topic: /lidar_top/points #Topic used to send point cloud through ROS proto: point_cloud_recv_port: 60021 #Port number used for receiving point cloud point_cloud_send_port: 60021 #Port number which the point cloud will be send to msop_recv_port: 60022 #Port number used for receiving lidar msop packets msop_send_port: 60022 #Port number which the msop packets will be send to difop_recv_port: 60023 #Port number used for receiving lidar difop packets difop_send_port: 60023 #Port number which the difop packets will be send to point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to

left lidar info

driver: lidar_type: RS16 #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS frame_id: /lidar_left #Frame id of message msop_port: 5590 #Msop port of lidar difop_port: 6689 #Difop port of lidar start_angle: 0 #Start angle of point cloud end_angle: 360 #End angle of point cloud min_distance: 0.2 #Minimum distance of point cloud max_distance: 200 #Maximum distance of point cloud use_lidar_clock: false #True--Use the lidar clock as the message timestamp
False-- Use the system clock as the timestamp

ros: ros_recv_packet_topic: /rslidar_left_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_left_packets #Topic used to send lidar packets through ROS ros_send_point_cloud_topic: /lidar_left/points #Topic used to send point cloud through ROS proto: point_cloud_recv_port: 60021 #Port number used for receiving point cloud point_cloud_send_port: 60021 #Port number which the point cloud will be send to msop_recv_port: 60022 #Port number used for receiving lidar msop packets msop_send_port: 60022 #Port number which the msop packets will be send to difop_recv_port: 60023 #Port number used for receiving lidar difop packets difop_send_port: 60023 #Port number which the difop packets will be send to point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to

right lidar info

driver: lidar_type: RS16 #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS frame_id: /lidar_right #Frame id of message msop_port: 4490 #Msop port of lidar difop_port: 5589 #Difop port of lidar start_angle: 0 #Start angle of point cloud end_angle: 360 #End angle of point cloud min_distance: 0.2 #Minimum distance of point cloud max_distance: 200 #Maximum distance of point cloud use_lidar_clock: false #True--Use the lidar clock as the message timestamp
False-- Use the system clock as the timestamp

ros: ros_recv_packet_topic: /rslidar_right_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_right_packets #Topic used to send lidar packets through ROS ros_send_point_cloud_topic: /lidar_right/points #Topic used to send point cloud through ROS proto: point_cloud_recv_port: 60021 #Port number used for receiving point cloud point_cloud_send_port: 60021 #Port number which the point cloud will be send to msop_recv_port: 60022 #Port number used for receiving lidar msop packets msop_send_port: 60022 #Port number which the msop packets will be send to difop_recv_port: 60023 #Port number used for receiving lidar difop packets difop_send_port: 60023 #Port number which the difop packets will be send to point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to

front lidar info

driver: lidar_type: RSM1 #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS frame_id: /lidar_front #Frame id of message msop_port: 6699 #Msop port of lidar difop_port: 7788 #Difop port of lidar start_angle: 0 #Start angle of point cloud end_angle: 360 #End angle of point cloud min_distance: 0.2 #Minimum distance of point cloud max_distance: 200 #Maximum distance of point cloud use_lidar_clock: false #True--Use the lidar clock as the message timestamp

False-- Use the system clock as the timestamp

ros: ros_recv_packet_topic: /rslidar_front_packets #Topic used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_front_packets #Topic used to send lidar packets through ROS ros_send_point_cloud_topic: /lidar_front/points #Topic used to send point cloud through ROS proto: point_cloud_recv_port: 60021 #Port number used for receiving point cloud point_cloud_send_port: 60021 #Port number which the point cloud will be send to msop_recv_port: 60022 #Port number used for receiving lidar msop packets msop_send_port: 60022 #Port number which the msop packets will be send to difop_recv_port: 60023 #Port number used for receiving lidar difop packets difop_send_port: 60023 #Port number which the difop packets will be send to point_cloud_send_ip: 127.0.0.1 #Ip address which the point cloud will be send to packet_send_ip: 127.0.0.1 #Ip address which the lidar packets will be send to
```
robosense sdk release 1.3.0.
```

RS-16

After roslaunch rslidar_sdk start.launch and opening rviz i was confusing by periodically disappearing part of points.
(View 1.pcd, 2.pcd, 1.png, 2.png).

1.pcd

2.pcd

Interesting that RSView show scans correctly

RS m1

There is some problem with correcting reading poins from RS MEMS by rslidar_sdk

3.pcd

RSView show correcting scans

HaoQChen commented 3 years ago

periodically disappearing part of points

did you change split_frame_mode to 2 or 3?

which version of RSView did you use? There are two modes to parse points, And this driver only support one mode. You need to content our support colleague, he will help you about it

armin.mu@robosense.cn

HaoQChen commented 3 years ago

Can this issue be closed?

simulacrus commented 3 years ago

I'm trying to configure rslidar_sdk with split_frame_mode =2. Result ... rs16.zip

Lidar scan looks same with spilit_frame_mode = 3 and num_pkts_split = 37. If I set num_pkts_split > 38 then i have oversize pointcloud

HaoQChen commented 3 years ago

I'm trying to configure rslidar_sdk with split_frame_mode =2. Result ... rs16.zip

Lidar scan looks same with spilit_frame_mode = 3 and num_pkts_split = 37. If I set num_pkts_split > 38 then i have oversize pointcloud

emm, I mean you need to set split_frame_mode to 1, default is 1.

If split frame by cut angle, driver will split frames when it finds lidar step over cut_angle. This guarantees no periodically disappearing part of points.

If split frame by number of packets, unstable speed will lead to a periodically disappearing part of points

simulacrus commented 3 years ago

I'm trying to configure rslidar_sdk with split_frame_mode =2. Result ... rs16.zip Lidar scan looks same with spilit_frame_mode = 3 and num_pkts_split = 37. If I set num_pkts_split > 38 then i have oversize pointcloud

emm, I mean you need to set split_frame_mode to 1, default is 1.

If split frame by cut angle, driver will split frames when it finds lidar step over cut_angle. This guarantees no periodically disappearing part of points.

If split frame by number of packets, unstable speed will lead to a periodically disappearing part of points

Initially, I used the default parameters. I also debugged the driver and saw that scans are periodically compiled from 37 to 38 packages. Maybe this is the problem

Andrea2202 commented 3 years ago

I've the same problem with ROS2 and M1. Have you any solutions?

@HaoQChen

HaoQChen commented 3 years ago

I've the same problem with ROS2 and M1. Have you any solutions?

@HaoQChen

Did you try split_frame_mode?

Did you try ROS1?

The environment of your computer?

tomcamp0228 commented 3 years ago

I've the same problem with ROS2 and M1. Have you any solutions? @HaoQChen

Did you try split_frame_mode?

Did you try ROS1?

The environment of your computer?

Hello, I have same problem with RS-M1-B2 as @simulacrus shows. I'm using about the latest version of your SDK and the enviorment is Ubuntu 18.04 with ROS eloquent. How can I solve the problem? Waiting for your reply, thank you.

HaoQChen commented 3 years ago

I've the same problem with ROS2 and M1. Have you any solutions? @HaoQChen

Did you try split_frame_mode? Did you try ROS1? The environment of your computer?

Hello, I have same problem with RS-M1-B2 as @simulacrus shows. I'm using about the latest version of your SDK and the enviorment is Ubuntu 18.04 with ROS eloquent. How can I solve the problem? Waiting for your reply, thank you.

rs_driver does not support B2, you need to use ros_rslidar

RoboSense-LiDAR / rslidar_sdk

rs-16 and rs-m1 supporting problem #19

top lidr info

False-- Use the system clock as the timestamp

left lidar info

False-- Use the system clock as the timestamp

right lidar info

False-- Use the system clock as the timestamp

front lidar info

False-- Use the system clock as the timestamp

RS-16

RS m1