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Overview

This lslidar_c32 package is a linux ROS driver for lslidar c32 from Shenzhen Leishen Intelligence System Co, Ltd.

lslidar-c32 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).

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

ROS

lslidar_c32_msgs

Package contains self-defined ROS message type used for lslidar-c32

lslidar_c32_driver

Parameters

Published Topics

lslidar_c32_decoder

Parameters

Published Topics

Subscribed Topics

Usage

Before running lslidar-c32 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 c32 driver

roslaunch lslidar_c32_decoder lslidar_c32.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

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

https://github.com/leishen-lidar/LSC32


2022-05-28 12:45