robosense_ac_ros_sdk_infra

README|中文文档

1. Overview

​ The robosense_ac_ros_sdk_infra project is a ROS-based package project. Based on this project, the point cloud, image and IMU data output of the device can be visually viewed by accessing RoboSense AC hardware in ROS environment.

2. Prerequisites

• Ubuntu20.04

• ROS which is matched the system version

3. Drive Install And Hardware Connect

3.1 Drive Install(Only Need Once)

Open a new terminal in the scripts folder in the current project directory, install the command execution script as shown in the following figure, and run the installation driver script.

# Go to the script directory under source code
cd /codepath/src/ac_driver/scripts
# First access to a new device execution (only once required)
sudo bash metaS_usb_permission.sh

Wait for the installation, and restart the computer.

3.2 Hardware Connect

Due to the large amount of data transmission of the device provided by Robosense, it is required to use USB3.0 access.

4. Build

• Step1: Open a teminal And change the work path to the "src" directory of this ROS package

• Step2: Run ros build command

  # Go to the source code root directory
  cd /codepath
  catkin_make

5. Run

• Step1: Setup the node's environment by source command:

  • source devel/setup.bash(For Bash Terminal)
  • source devel/setup.zsh(For Zsh Termial)

• Step2: Run node:

  roslaunch ac_driver start.launch 

  Notice: As the "start.launch" setting the rviz node to run, so the user not need to start rviz by youself.

7. Topic Name And Data Type

• /rs_camera/rgb -> sensor_msgs::Image
• /rs_lidar/points -> sensor_msgs::PointCloud2, the pointcloud frame_id is "/rslidar"
• /rs_imu -> sensor_msgs::Imu