Lslidar LiDAR Driver

1. Overview

lslidar is a lidar driver integration package from LenShen Intelligent System Co. Ltd. for the Apollo 8.0 platform. Currently the C16, C32, CH16, CH32, CH64, CH64w, CH120, CH128,CH128X1 lidar models are supported.

2. Example of driver running

2.1 C16

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidar16/PointCloud2
• Scan--/apollo/sensor/lslidar16/Scan
• Point cloud after motion compensation -- /apollo/sensor/lslidar16/compensator/PointCloud2

2.2 C32

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidar32/PointCloud2
• Scan--/apollo/sensor/lslidar32/Scan
• Point cloud after motion compensation -- /apollo/sensor/lslidar32/compensator/PointCloud2

2.3 N401(delete)

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidar401/PointCloud2
• Scan--/apollo/sensor/lslidar401/Scan

2.4 CH16

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidarCH16/PointCloud2
• Scan--/apollo/sensor/lslidarCH16/Scan
• Point cloud after motion compensation -- /apollo/sensor/lslidarCH16/compensator/PointCloud2

2.5 CH32

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidarCH32/PointCloud2
• Scan--/apollo/sensor/lslidarCH32/Scan
• Point cloud after motion compensation -- /apollo/sensor/lslidarCH32/compensator/PointCloud2

2.6 CH64

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidarCH64/PointCloud2
• Scan--/apollo/sensor/lslidarCH64/Scan
• Point cloud after motion compensation -- /apollo/sensor/lslidarCH64/compensator/PointCloud2

2.7 CH64w

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidarCH64w/PointCloud2
• Scan--/apollo/sensor/lslidarCH64w/Scan
• Point cloud after motion compensation -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2

2.8 CH120

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidarCH120/PointCloud2
• Scan--/apollo/sensor/lslidarCH120/Scan
• Point cloud after motion compensation -- /apollo/sensor/lslidarCH120/compensator/PointCloud2

2.9 CH128

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidarCH128/PointCloud2
• Scan--/apollo/sensor/lslidarCH128/Scan
• Point cloud after motion compensation -- /apollo/sensor/lslidarCH128/compensator/PointCloud2

2.10 CH128X1

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

Default topic name:

• Raw point cloud -- /apollo/sensor/lslidarCH128X1/PointCloud2
• Scan--/apollo/sensor/lslidarCH128X1/Scan
• Point cloud after motion compensation -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2

Frequently asked questions

• The printout "[lslidar]lslidar poll() timeout, port: 2368" indicates that the computing platform is not connected to the lidar network.

You can use Wireshark to see if lidar data is available; and if the lidar IP and port number parameters are set correctly.