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**Lslidar LiDAR Driver**

modules/drivers/lidar/lslidar/README_cn.md

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Lslidar LiDAR Driver

1、 工程简介

lslidar 为镭神在Apollo 8.0平台的雷达驱动集成包。 目前支持C16，C32，CH16，CH32，CH64，CH64w，CH120，CH128,CH128X1等型号的雷达。

2、 驱动运行示例

2.1 C16

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidar16/PointCloud2
  • Scan--/apollo/sensor/lslidar16/Scan
  • 运动补偿后点云 -- /apollo/sensor/lslidar16/compensator/PointCloud2

2.2 C32

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidar32/PointCloud2
  • Scan--/apollo/sensor/lslidar32/Scan
  • 运动补偿后点云 -- /apollo/sensor/lslidar32/compensator/PointCloud2

2.3 N401(删除)

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidar401/PointCloud2
  • Scan--/apollo/sensor/lslidar401/Scan

2.4 CH16

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidarCH16/PointCloud2
  • Scan--/apollo/sensor/lslidarCH16/Scan
  • 运动补偿后点云 -- /apollo/sensor/lslidarCH16/compensator/PointCloud2

2.5 CH32

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidarCH32/PointCloud2
  • Scan--/apollo/sensor/lslidarCH32/Scan
  • 运动补偿后点云 -- /apollo/sensor/lslidarCH32/compensator/PointCloud2

2.6 CH64

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidarCH64/PointCloud2
  • Scan--/apollo/sensor/lslidarCH64/Scan
  • 运动补偿后点云 -- /apollo/sensor/lslidarCH64/compensator/PointCloud2

2.7 CH64w

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidarCH64w/PointCloud2
  • Scan--/apollo/sensor/lslidarCH64w/Scan
  • 运动补偿后点云 -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2

2.8 CH120

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidarCH120/PointCloud2
  • Scan--/apollo/sensor/lslidarCH120/Scan
  • 运动补偿后点云 -- /apollo/sensor/lslidarCH120/compensator/PointCloud2

2.9 CH128

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidarCH128/PointCloud2
  • Scan--/apollo/sensor/lslidarCH128/Scan
  • 运动补偿后点云 -- /apollo/sensor/lslidarCH128/compensator/PointCloud2

2.10 CH128X1

cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch 或 mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag

默认话题名：

  • 原始点云 -- /apollo/sensor/lslidarCH128X1/PointCloud2
  • Scan--/apollo/sensor/lslidarCH128X1/Scan
  • 运动补偿后点云 -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2

常见问题

  • 打印“[lslidar]lslidar poll() timeout, port: 2368‘’ 表示计算平台与雷达网络不通。

可用wireshark查看是否有雷达数据；以及雷达ip和端口号参数设置是否正确。