Only released in EOL distros:   kinetic

Overview

This lslidar_c16 package is a linux ROS driver for lslidar c16 from Shenzhen Leishen Intelligence System Co, Ltd.

lslidar-c16 is a 16 channels hybird solid state lidar based on TOF working principle. The maximum detection range is up to 200m (different model has different maximum range).

• Vertical viewing angle is from -15 degree to 15 degree
• Horizontal viewing angle is 360 degree
• Maximum angular resolution is 0.09 degree at 5Hz.
• Normal angular resolution is 0.18 degree at 10Hz

This package is tested on Ubuntu 14.04 with ROS indigo and Ubuntu 16.04 with ROS kinetic.

ROS

lslidar_c16_msgs

Package contains self-defined ROS message type used for lslidar-c16

• lslidar_c16_msgs/LslidarC16Packet

  • Original UDP packet block data

• lslidar_c16_msgs/LslidarC16Point

  • Resolved point infomation

• lslidar_c16_msgs/LslidarC16Scan

  • Point information for specific channel

• lslidar_c16_msgs/LslidarC16Sweep

  • Whole point cloud data of 16 channels

lslidar_c16_driver

Parameters

• lidar_ip (string, default: 192.168.1.200)

  • By default, the IP address of the device is 192.168.1.200.

• device_port (int, default: 2368)

  • By default, the Port address of the device is 2368.

• frame_id (string, default: laser)

  • The frame ID entry for the sent messages.

• add_multicast (bool, default: false)

  • Whether using group multicast or not

• group_ip (string, default: 234.2.3.2)

  • The group IP address of the device. Only useful when setting add_multicast to true

Published Topics

• lslidar_packets (lslidar_c16_msgs/LslidarC16Packet)

  • Each message corresponds to a lslidar packet sent by the device through the Ethernet.

lslidar_c16_decoder

Parameters

• min_range (double, 0.15)

• max_range (double, 150.0)

  • Points outside this range will be removed.

• frequency (frequency, 10.0)

  • Note that the driver does not change the frequency of the sensor.

• publish_point_cloud (bool, true)

  • If set to true, the decoder will send out a full revolution point cloud data

• use_gps_ts (bool, false)

  • If set to true, the decoder synchronized with GPS timestamp

• angle3_disable_min (double, -1)

  • Ignore 3D point cloud data from angle3_disable_min to angle3_disable_max; Default -1 means disable this function; Value should from 0 to 2*pi

• angle3_disable_max (double, -1)

  • Ignore 3D point cloud data from angle3_disable_min to angle3_disable_max; Default -1 means disable this function; Value should from 0 to 2*pi

Published Topics

• lslidar_sweep (lslidar_c16_msgs/LslidarC16Sweep)

  • The message arranges the points within each sweep based on its scan index and azimuth.

• lslidar_point_cloud (sensor_msgs/PointCloud2)

  • This is only published when the publish_point_cloud is set to true in the launch file.

Subscribed Topics

• lslidar_packets (lslidar_c16_msgs/LslidarC16Packet)

  • Each message corresponds to a lslidar packet sent by the device through the Ethernet.

Usage

Before running lslidar-c16 driver, make sure you set up IP address correctly. Using following command to check if device is communicating. Replace eth0 with your correct computer network interface

sudo tcpdump -i eth0

Running following commmand to launch lslidar c16 driver

roslaunch lslidar_c16_decoder lslidar_c16.launch --screen

Note that this launch file launches both the driver and the decoder, which is the only launch file needed to be used.

FAQ

Cannot open UDP port

Make Sure your IP setting for bot device IP and computer IP is correct. Default device IP is 192.168.1.200 and port is 2368. Default computer IP is 192.168.1.102

lslidar poll() timeout

Make Sure your IP setting for bot device IP and computer IP is correct. Default device IP is 192.168.1.200 and port is 2368. Default computer IP is 192.168.1.102

Related Links

http://en.leishen-lidar.com/

https://github.com/tongsky723/lslidar_C16