Suppose there are two computers, PC-A and PC-B and they are far away from each other. You connect LiDAR with PC-A and for some reasons, you want to use point cloud message in PC-B. At this time, you may need to use the protobuf functions. Typically, there are two ways to achieve this goal.
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PC-A send out the packets message to PC-B. PC-B receive the packet message and decode it , then PC-B get the point cloud message and use it.
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PC-A decode the packets message, get the point cloud and send out the point cloud message to PC-B. PC-B receive the point cloud message and use it directly.
We offer both of these two ways but we recommend first method rather than second method because the point cloud message is very large and it may take up your bandwidth.
We suppose you have already read Intro to parameters and you already have a basic idea about the config file.
common:
msg_source: 1
send_packet_ros: false
send_point_cloud_ros: false
send_packet_proto: true
send_point_cloud_proto: false
pcap_path: /home/robosense/lidar.pcap Since the message come from the LiDAR, set msg_source = 1.
Send packets through Protobuf-UDP so set send_packet_proto = true.
lidar:
- driver:
lidar_type: RS128
frame_id: /rslidar
msop_port: 6699
difop_port: 7788
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /rslidar_packets
ros_send_packet_topic: /rslidar_packets
ros_send_point_cloud_topic: /rslidar_points
proto:
point_cloud_recv_port: 60021
point_cloud_send_port: 60021
msop_recv_port: 60022
msop_send_port: 60022
difop_recv_port: 60023
difop_send_port: 60023
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1 Set the lidar_type to your LiDAR type.
Set the msop_port and difop_port to your LiDAR's port number.
Set the msop_send_port, difop_send_port, and packet_send_ip.
common:
msg_source: 4
send_packet_ros: false
send_point_cloud_ros: true
send_packet_proto: false
send_point_cloud_proto: false
pcap_path: /home/robosense/lidar.pcap Since the packets message come from protobuf-UDP, set msg_source = 4.
Send point cloud to ROS so set send_point_cloud_ros = true.
lidar:
- driver:
lidar_type: RS128
frame_id: /rslidar
msop_port: 6699
difop_port: 7788
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /rslidar_packets
ros_send_packet_topic: /rslidar_packets
ros_send_point_cloud_topic: /rslidar_points
proto:
point_cloud_recv_port: 60021
point_cloud_send_port: 60021
msop_recv_port: 60022
msop_send_port: 60022
difop_recv_port: 60023
difop_send_port: 60023
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1 Set the lidar_type to your LiDAR type.
Make sure the PC-B's ip address is same as the packet_send_ip set in PC-A's config.yaml.
Set the msop_recv_port and difop_recv_port to be same with the msop_send_port and difop_send_port set in PC-A's config.yaml.
We suppose you have already read Intro to parameters and you already have a basic idea about the config file.
common:
msg_source: 1
send_packet_ros: false
send_point_cloud_ros: false
send_packet_proto: false
send_point_cloud_proto: true
pcap_path: /home/robosense/lidar.pcap Since the message come from the LiDAR, set msg_source = 1.
Send point cloud through Protobuf-UDP so set send_point_cloud_proto = true.
lidar:
- driver:
lidar_type: RS128
frame_id: /rslidar
msop_port: 6699
difop_port: 7788
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /rslidar_packets
ros_send_packet_topic: /rslidar_packets
ros_send_point_cloud_topic: /rslidar_points
proto:
point_cloud_recv_port: 60021
point_cloud_send_port: 60021
msop_recv_port: 60022
msop_send_port: 60022
difop_recv_port: 60023
difop_send_port: 60023
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1 Set the lidar_type to your LiDAR type.
Set the msop_port and difop_port to your LiDAR's port number.
Set the point_cloud_send_port and ```point_cloud_send_ip``.
common:
msg_source: 5
send_packet_ros: false
send_point_cloud_ros: true
send_packet_proto: false
send_point_cloud_proto: false
pcap_path: /home/robosense/lidar.pcap Since the point cloud message come from protobuf-UDP, set msg_source = 5.
Send point cloud to ROS so set send_point_cloud_ros = true.
lidar:
- driver:
lidar_type: RS128
frame_id: /rslidar
msop_port: 6699
difop_port: 7788
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /rslidar_packets
ros_send_packet_topic: /rslidar_packets
ros_send_point_cloud_topic: /rslidar_points
proto:
point_cloud_recv_port: 60021
point_cloud_send_port: 60021
msop_recv_port: 60022
msop_send_port: 60022
difop_recv_port: 60023
difop_send_port: 60023
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1Make sure the PC-B's ip address is same as the point_cloud_send_ip set in PC-A's config.yaml.
Set the point_cloud_recv_port to be same with the point_cloud_send_port set in PC-A's config.yaml.