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Merge pull request #15042 from Lslidar/apollo_lslidar_230714
Add lslidar driver for Apollo platform,230714
2 parents d5f88cb + cf81fa2 commit a3c851f

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‎modules/drivers/lidar/BUILD‎

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"//modules/drivers/lidar/hesai:install",
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"//modules/drivers/lidar/robosense:install",
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"//modules/drivers/lidar/velodyne:install",
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"//modules/drivers/lidar/lslidar:install",
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]
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)
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‎modules/drivers/lidar/lslidar/BUILD‎

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load("//tools/install:install.bzl", "install")
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package(default_visibility = ["//visibility:public"])
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install(
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name = "install",
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data_dest = "drivers/addition_data/lidar/lslidar",
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library_dest = "drivers/lib/lidar/lslidar",
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data = [
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":runtime_data",
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],
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targets = [
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"//modules/drivers/lidar/lslidar/driver:liblslidar_driver_component.so",
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"//modules/drivers/lidar/lslidar/parser:liblslidar_convert_component.so",
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],
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)
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filegroup(
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name = "runtime_data",
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srcs = glob([
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"conf/*.txt",
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"conf/*.conf",
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"dag/*.dag",
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"launch/*.launch",
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"params/*.yaml",
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]),
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)

‎modules/drivers/lidar/lslidar/README_cn.md‎

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# **Lslidar LiDAR Driver**
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## 1、 工程简介
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**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。
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## 2、 驱动运行示例
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#### 2.1 C16
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidar16/PointCloud2
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- Scan--/apollo/sensor/lslidar16/Scan
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- 运动补偿后点云 -- /apollo/sensor/lslidar16/compensator/PointCloud2
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#### 2.2 C32
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidar32/PointCloud2
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- Scan--/apollo/sensor/lslidar32/Scan
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- 运动补偿后点云 -- /apollo/sensor/lslidar32/compensator/PointCloud2
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#### 2.3 N401(删除)
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidar401/PointCloud2
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- Scan--/apollo/sensor/lslidar401/Scan
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#### 2.4 CH16
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidarCH16/PointCloud2
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- Scan--/apollo/sensor/lslidarCH16/Scan
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- 运动补偿后点云 -- /apollo/sensor/lslidarCH16/compensator/PointCloud2
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#### 2.5 CH32
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidarCH32/PointCloud2
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- Scan--/apollo/sensor/lslidarCH32/Scan
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- 运动补偿后点云 -- /apollo/sensor/lslidarCH32/compensator/PointCloud2
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#### 2.6 CH64
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidarCH64/PointCloud2
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- Scan--/apollo/sensor/lslidarCH64/Scan
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- 运动补偿后点云 -- /apollo/sensor/lslidarCH64/compensator/PointCloud2
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#### 2.7 CH64w
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidarCH64w/PointCloud2
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- Scan--/apollo/sensor/lslidarCH64w/Scan
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- 运动补偿后点云 -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2
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#### 2.8 CH120
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidarCH120/PointCloud2
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- Scan--/apollo/sensor/lslidarCH120/Scan
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- 运动补偿后点云 -- /apollo/sensor/lslidarCH120/compensator/PointCloud2
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#### 2.9 CH128
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidarCH128/PointCloud2
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- Scan--/apollo/sensor/lslidarCH128/Scan
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- 运动补偿后点云 -- /apollo/sensor/lslidarCH128/compensator/PointCloud2
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#### 2.10 CH128X1
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch
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或
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag
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默认话题名：
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- 原始点云 -- /apollo/sensor/lslidarCH128X1/PointCloud2
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- Scan--/apollo/sensor/lslidarCH128X1/Scan
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- 运动补偿后点云 -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2
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### 常见问题
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- 打印“[lslidar]lslidar poll() timeout, port: 2368‘’ 表示计算平台与雷达网络不通。
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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。

‎modules/drivers/lidar/lslidar/README_en.md‎

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# **Lslidar LiDAR Driver**
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## 1. Overview
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**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.
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## 2. Example of driver running
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#### 2.1 C16
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidar16/PointCloud2
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- Scan--/apollo/sensor/lslidar16/Scan
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- Point cloud after motion compensation -- /apollo/sensor/lslidar16/compensator/PointCloud2
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#### 2.2 C32
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidar32/PointCloud2
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- Scan--/apollo/sensor/lslidar32/Scan
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- Point cloud after motion compensation -- /apollo/sensor/lslidar32/compensator/PointCloud2
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#### 2.3 N401(delete)
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidar401/PointCloud2
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- Scan--/apollo/sensor/lslidar401/Scan
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#### 2.4 CH16
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidarCH16/PointCloud2
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- Scan--/apollo/sensor/lslidarCH16/Scan
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- Point cloud after motion compensation -- /apollo/sensor/lslidarCH16/compensator/PointCloud2
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#### 2.5 CH32
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidarCH32/PointCloud2
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- Scan--/apollo/sensor/lslidarCH32/Scan
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- Point cloud after motion compensation -- /apollo/sensor/lslidarCH32/compensator/PointCloud2
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#### 2.6 CH64
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidarCH64/PointCloud2
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- Scan--/apollo/sensor/lslidarCH64/Scan
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- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64/compensator/PointCloud2
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#### 2.7 CH64w
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidarCH64w/PointCloud2
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- Scan--/apollo/sensor/lslidarCH64w/Scan
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- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2
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#### 2.8 CH120
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidarCH120/PointCloud2
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- Scan--/apollo/sensor/lslidarCH120/Scan
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- Point cloud after motion compensation -- /apollo/sensor/lslidarCH120/compensator/PointCloud2
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#### 2.9 CH128
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidarCH128/PointCloud2
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- Scan--/apollo/sensor/lslidarCH128/Scan
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- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128/compensator/PointCloud2
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#### 2.10 CH128X1
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cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch
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or
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mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag
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Default topic name:
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- Raw point cloud -- /apollo/sensor/lslidarCH128X1/PointCloud2
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- Scan--/apollo/sensor/lslidarCH128X1/Scan
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- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2
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### Frequently asked questions
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- The printout "[lslidar]lslidar poll() timeout, port: 2368" indicates that the computing platform is not connected to the lidar network.
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You can use Wireshark to see if lidar data is available; and if the lidar IP and port number parameters are set correctly.
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‎modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt‎

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world_frame_id: "world"
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transform_query_timeout: 0.02
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output_channel: "/apollo/sensor/lslidar16/compensator/PointCloud2"

‎modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt‎

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model: LSLIDAR16P
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device_ip: "192.168.1.201"
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msop_port: 2370
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difop_port: 2371
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return_mode: 1
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degree_mode: 2 #2: 均匀2度校准两列 1://均匀1.33度校准两列
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distance_unit: 0.25
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packet_size: 1206
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time_synchronization: false
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add_multicast: false
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group_ip: "224.1.1.2"
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rpm: 600 #雷达转速 10hz:600rpm, 20hz:1200rpm, 5hz:300rpm
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convert_channel_name: "/apollo/sensor/lslidar16/PointCloud2"
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frame_id: "lslidar16"
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scan_channel: "/apollo/sensor/lslidar16/Scan"
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min_range: 0.15
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max_range: 150.0
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config_vert: true
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scan_start_angle: 0.0
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scan_end_angle: 36000.0
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#要屏蔽的矩形区域参数
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bottom_left_x: 0.0 #左下 x值
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bottom_left_y: 0.0 #左下 y值
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top_right_x: 0.0 #右上 x值
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top_right_y: 0.0 #右上 y值
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calibration: false
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calibration_file: "/apollo/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml"
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pcap_path: "" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空
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‎modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt‎

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world_frame_id: "world"
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transform_query_timeout: 0.02
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output_channel: "/apollo/sensor/lslidar16v4/compensator/PointCloud2"

‎modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt‎

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model: LSLIDAR_C16_V4
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device_ip: "192.168.1.200"
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msop_port: 2368
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difop_port: 2369
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return_mode: 1
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degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列
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distance_unit: 0.4
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packet_size: 1212
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time_synchronization: false
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add_multicast: false
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group_ip: "224.1.1.2"
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rpm: 600
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convert_channel_name: "/apollo/sensor/lslidar16v4/PointCloud2"
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frame_id: "lslidar16v4"
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scan_channel: "/apollo/sensor/lslidar16v4/Scan"
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min_range: 0.15
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max_range: 150.0
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config_vert: true
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scan_start_angle: 0.0
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scan_end_angle: 36000.0
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#要屏蔽的矩形区域参数
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bottom_left_x: 0.0 #左下 x值
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bottom_left_y: 0.0 #左下 y值
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top_right_x: 0.0 #右上 x值
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top_right_y: 0.0 #右上 y值
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pcap_path: "" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空

‎modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt‎

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world_frame_id: "world"
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transform_query_timeout: 0.02
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output_channel: "/apollo/sensor/lslidar1v4/compensator/PointCloud2"

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