{"id":8425,"date":"2024-03-20T22:21:41","date_gmt":"2024-03-20T14:21:41","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=8425"},"modified":"2024-10-26T11:39:20","modified_gmt":"2024-10-26T03:39:20","slug":"%e6%bf%80%e5%85%89%e9%9b%b7%e8%be%be-%e9%80%9f%e8%85%be%e8%81%9a%e5%88%9brobosense16","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=8425","title":{"rendered":"\u6fc0\u5149\u96f7\u8fbe\u2014\u901f\u817e\u805a\u521bRoboSense16"},"content":{"rendered":"<h1><span id=\"lwptoc\">\u4e00\u3001\u6982\u8ff0<\/span><\/h1>\n<p>RS-LiDAR-16\u662f\u901f\u817e\u805a\u521b\u63a8\u51fa\u768416\u7ebf\u6fc0\u5149\u96f7\u8fbe\uff0c\u662f\u4e00\u9897\u975e\u5e38\u5c0f\u578b\u7684\u6fc0\u5149\u96f7\u8fbe\uff0c\u4e3b\u8981\u9762\u5411\u65e0\u4eba\u9a7e\u9a76\u6c7d\u8f66\u73af\u5883\u611f\u77e5\u3001\u673a\u5668\u4eba\u73af\u5883\u611f\u77e5\u3001\u65e0\u4eba\u673a\u6d4b\u7ed8\u7b49\u9886\u57df\u3002RS16\u91c7\u7528\u6df7\u5408\u56fa\u6001\u6fc0\u5149\u96f7\u8fbe\u65b9\u5f0f\uff0c\u96c6\u5408\u4e8616 \u4e2a\u6fc0\u5149\u6536\u53d1\u7ec4\u4ef6\uff0c\u6700\u5927\u63a2\u6d4b\u8ddd\u79bb150\u7c73\uff0c\u6d4b\u91cf\u7cbe\u5ea6+\/- 2cm\u4ee5\u5185\u3002\u901a\u8fc7\u6fc0\u5149\u626b\u63cf\u53cd\u5c04\u63d0\u4f9b\u4e09\u7ef4\u7a7a\u95f4\u70b9\u4e91\u6570\u636e\u53ca\u7269\u4f53\u53cd\u5c04\u7387\uff0c\u4e3a\u5b9a\u4f4d\u3001\u5bfc\u822a\u3001\u907f\u969c\u7b49\u63d0\u4f9b\u6709\u529b\u7684\u4fdd\u969c\u3002<\/p>\n<p>\u4e3b\u8981\u53c2\u6570\uff1a<\/p>\n<ul>\n<li>360\u00b0\u6c34\u5e73\u89c6\u573a\u89d2\uff1b<\/li>\n<li>30\u00b0\u5782\u76f4\u89c6\u573a\u89d2\uff0c16\u7ebf\u5e73\u5747\u5206\u5e03\uff1b<\/li>\n<li>150\u7c73\u63a2\u6d4b\u8ddd\u79bb\uff1b<\/li>\n<li>\u5e27\u73875Hz\/10Hz\/20Hz\uff1b<\/li>\n<li>\u51fa\u70b9\u6570288,000pts\/s(\u5355\u56de\u6ce2) 576,000pts\/s(\u53cc\u56de\u6ce2)\uff1b<\/li>\n<li>\u4ee5\u592a\u7f51UDP\u901a\u4fe1\uff1b<\/li>\n<li>\u5de5\u4f5c\u7535\u538b9V &#8211; 32V\uff0c\u65e5\u5e3812V\u5373\u53ef\uff1b<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8441\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16.png\" alt=\"\" width=\"651\" height=\"324\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16.png 651w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-300x149.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-624x311.png 624w\" sizes=\"(max-width: 651px) 100vw, 651px\" \/><\/a><\/p>\n<p>\u6211\u4eec\u8fd9\u91cc\u4e3b\u8981\u662f\u4f7f\u7528\u5b83\u4ee3\u66ff\u5355\u7ebf\u96f7\u8fbe\uff0c\u7528\u4e8e\u5ba4\u5916\u673a\u5668\u4eba\u5efa\u56fe\u548c\u5bfc\u822a\uff0c\u4ee5\u5e94\u5bf9\u5730\u9762\u4e0d\u5e73\u7b49\u76f8\u5bf9\u5ba4\u5185\u66f4\u590d\u6742\u7684\u573a\u666f\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1><span id=\"lwptoc1\">\u4e8c\u3001\u51c6\u5907\u5de5\u4f5c<\/span><\/h1>\n<h4><span id=\"2\">1. \u96f7\u8fbe\u8fde\u7ebf<\/span><\/h4>\n<p>\u8fde\u63a5Lemo\u8fde\u63a5\u5668\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/40P-link2.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8331\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/40P-link2.png\" sizes=\"(max-width: 755px) 100vw, 755px\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/40P-link2.png 755w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/40P-link2-300x142.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/40P-link2-624x295.png 624w\" alt=\"\" width=\"755\" height=\"357\" \/><\/a><\/p>\n<p>\u7269\u7406\u8fde\u7ebf\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-interfacebox.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8477\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-interfacebox.png\" alt=\"\" width=\"559\" height=\"349\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-interfacebox.png 559w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-interfacebox-300x187.png 300w\" sizes=\"(max-width: 559px) 100vw, 559px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-link.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8428\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-link.png\" alt=\"\" width=\"848\" height=\"591\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-link.png 848w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-link-300x209.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-link-768x535.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-link-624x435.png 624w\" sizes=\"(max-width: 848px) 100vw, 848px\" \/><\/a><\/p>\n<h4><span id=\"3\">2. \u7f51\u7edc\u914d\u7f6e<\/span><\/h4>\n<p>RS16\u96f7\u8fbe\u7684\u51fa\u5382\u7f51\u7edc\u914d\u7f6e\u9ed8\u8ba4\u96f7\u8fbe\u81ea\u8eabip\u4e3a192.168.1.200\uff0c\u7535\u8111ip\u4e3a192.168.1.102\u3002\u6545\u4e3a\u4e86\u6210\u529f\u8fde\u63a5\u96f7\u8fbe\uff0c\u9700\u4fee\u6539\u672c\u673a\u7684\u7f51\u7edc\u914d\u7f6e\uff0c\u5373\u9759\u6001Ip\u5730\u5740\u8bbe\u7f6e\u4e3a192.168.1.102\uff0c\u7f51\u5173\u4e3a192.168.1.1\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-default-netconf.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8458\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-default-netconf.png\" alt=\"\" width=\"584\" height=\"106\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-default-netconf.png 584w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-default-netconf-300x54.png 300w\" sizes=\"(max-width: 584px) 100vw, 584px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-proto.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8479\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-proto.png\" alt=\"\" width=\"586\" height=\"232\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-proto.png 586w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-proto-300x119.png 300w\" sizes=\"(max-width: 586px) 100vw, 586px\" \/><\/a><\/p>\n<p>\u7531\u4e8e\u6211\u662f\u4ece\u7f51\u4e0a\u4e70\u7684\u65e7\u96f7\u8fbe\uff0c\u96f7\u8fbeIP\u5356\u5bb6\u4e5f\u4e0d\u77e5\u9053\u88ab\u6539\u6210\u4ec0\u4e48\u9b3c\u4e86\uff0c\u6240\u4ee5\u8fd9\u91cc\u5148\u63d2\u4e0alidar\u7684\u7f51\u7ebf\uff0c\u7528tcpdump\u6293\u5305\u770b\u4e0b\uff0c\u53ef\u4ee5\u770b\u5230lidar\u5728\u53d1\u9001arp\uff0c\u5bfb\u627e10.7.5.10\uff0c\u800c\u5b83\u81ea\u5df1\u662f10.7.5.100\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-tcpdump.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8429\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-tcpdump.png\" alt=\"\" width=\"695\" height=\"184\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-tcpdump.png 695w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-tcpdump-300x79.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-tcpdump-624x165.png 624w\" sizes=\"(max-width: 695px) 100vw, 695px\" \/><\/a><\/p>\n<p>\u5728Network-Wired\u91cc\u65b0\u5efa\u4e00\u4e2a\u540d\u4e3aRoboSense16\u7684\u6709\u7ebf\u7f51\u7edc\uff0cIPv4\u624b\u52a8\u8bbe\u7f6e\u4e3a10.7.5.10\uff0c\u4fdd\u5b58\u540e\u70b9\u51fb\u8fde\u63a5\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-ipv4.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8430\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-ipv4.png\" alt=\"\" width=\"632\" height=\"498\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-ipv4.png 632w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-ipv4-300x236.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-ipv4-624x492.png 624w\" sizes=\"(max-width: 632px) 100vw, 632px\" \/><\/a><\/p>\n<p>\u67e5\u770bip\u914d\u7f6e\u662f\u5426\u751f\u6548\uff0c\u5e76ping 10.7.5.100\u96f7\u8fbeip\u770b\u80fd\u5426ping\u901a\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-ping.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8431\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-ping.png\" alt=\"\" width=\"533\" height=\"92\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-ping.png 533w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-ping-300x52.png 300w\" sizes=\"(max-width: 533px) 100vw, 533px\" \/><\/a><\/p>\n<p>\u80fdping\u901a\u540e\uff0c\u518dtcpdump\u6293\u5305\u786e\u8ba4\u4e0b\u8fd9\u4e2a\u65e7lidar\u7684\u7aef\u53e3\u6709\u6ca1\u6709\u88ab\u6539\u8fc7\uff0c\u4ece\u4e0b\u56fe\u53ef\u4ee5\u770b\u52306699\/7788\u9ed8\u8ba4\u7aef\u53e3\u5728\u53d1\u90011248\u957f\u5ea6\u7684\u6570\u636e\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-port.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8433\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-port.png\" alt=\"\" width=\"614\" height=\"146\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-port.png 614w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-port-300x71.png 300w\" sizes=\"(max-width: 614px) 100vw, 614px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1><span id=\"lwptoc2\">\u4e09\u3001\u96f7\u8fbe\u8c03\u8bd5<\/span><\/h1>\n<h4><span id=\"1_SDKROS\">1. RS Lidar SDK\u4e0eROS\u5305<\/span><\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u914d\u7f6eros\u6e90\r\nsudo sh -c '. \/etc\/lsb-release &amp;&amp; echo \"deb [arch=$(dpkg --print-architecture)] http:\/\/mirrors.ustc.edu.cn\/ros\/ubuntu\/ $DISTRIB_CODENAME main\" &gt; \/etc\/apt\/sources.list.d\/ros-latest.list'\r\n# \u6dfb\u52a0\u516c\u94a5\r\nsudo apt-key adv --keyserver 'hkp:\/\/keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654\r\n# \u5b89\u88c5ros\u684c\u9762\u7248\r\nsudo apt update\r\nsudo apt install -y ros-noetic-desktop-full\r\n# \u8bbe\u7f6e\u73af\u5883\r\necho \"source \/opt\/ros\/noetic\/setup.bash\" &gt;&gt; ~\/.bashrc\r\nsource ~\/.bashrc\r\n\r\n# \u5b89\u88c5\u4f9d\u8d56\r\nsudo apt install -y libpcap-dev libyaml-cpp-dev python3-catkin-tools libcanberra-gtk-module libpcl-conversions-dev\r\n# \u51c6\u5907\u6e90\u7801\r\ncd ~\/catkin_ws\/src\/\r\n# git clone https:\/\/github.com\/RoboSense-LiDAR\/rslidar_sdk.git\r\ngit clone https:\/\/github.com\/yanjingang\/rslidar_sdk.git\r\n# \u66f4\u65b0\u9a71\u52a8\u4f9d\u8d56\r\ncd rslidar_sdk\r\ngit submodule update --init --recursive\r\n\r\n # \u7f16\u8bd1 \r\ncd ~\/catkin_ws\r\ncatkin_make\r\n\r\n# source\r\necho \"source ~\/catkin_ws\/devel\/setup.bash\" &gt;&gt; ~\/.bashrc\r\nsource ~\/.bashrc\r\necho $ROS_PACKAGE_PATH<\/code><\/pre>\n<h4><span id=\"1_ros\">2. \u4fee\u6539ROS\u914d\u7f6e<\/span><\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\">$ vim config\/config.yaml\r\ncommon:\r\n  msg_source: 1                                         #0: not use Lidar\r\n                                                        #1: packet message comes from online Lidar\r\n                                                        #2: packet message comes from ROS or ROS2\r\n                                                        #3: packet message comes from Pcap file\r\n                                                        #4: packet message comes from Protobuf-UDP\r\n                                                        #5: point cloud comes from Protobuf-UDP\r\n  send_packet_ros: true                                #true: Send packets through ROS or ROS2(Used to record packet)\r\n  send_point_cloud_ros: true                            #true: Send point cloud through ROS or ROS2\r\n  send_packet_proto: false                              #true: Send packets through Protobuf-UDP\r\n  send_point_cloud_proto: false                         #true: Send point cloud through Protobuf-UDP\r\n  pcap_path: \/home\/work\/lidar.pcap                 #The path of pcap file\r\n\r\nlidar:\r\n  - driver:\r\n      lidar_type: RS16            #LiDAR type - RS16, RS32, RSBP, RS128, RS80, RSM1, RSHELIOS\r\n      frame_id: \/rslidar           #Frame id of message\r\n      msop_port: 6699              #Msop port of lidar\r\n      difop_port: 7788             #Difop port of lidar\r\n      start_angle: 0               #Start angle of point cloud\r\n      end_angle: 360               #End angle of point cloud \r\n      min_distance: 0.2            #Minimum distance of point cloud\r\n      max_distance: 200            #Maximum distance of point cloud\r\n      use_lidar_clock: false       #True--Use the lidar clock as the message timestamp\r\n                                   #False-- Use the system clock as the timestamp  \r\n    ros:\r\n      ros_recv_packet_topic: \/rslidar_packets          #Topic used to receive lidar packets from ROS\r\n      ros_send_packet_topic: \/rslidar_packets          #Topic used to send lidar packets through ROS\r\n      ros_send_point_cloud_topic: \/rslidar_points      #Topic used to send point cloud through ROS\r\n    proto:\r\n      point_cloud_recv_port: 60021                     #Port number used for receiving point cloud \r\n      point_cloud_send_port: 60021                     #Port number which the point cloud will be send to\r\n      msop_recv_port: 60022                            #Port number used for receiving lidar msop packets\r\n      msop_send_port: 60022                            #Port number which the msop packets will be send to \r\n      difop_recv_port: 60023                           #Port number used for receiving lidar difop packets\r\n      difop_send_port: 60023                           #Port number which the difop packets will be send to \r\n      point_cloud_send_ip: 127.0.0.1                   #Ip address which the point cloud will be send to \r\n      packet_send_ip: 127.0.0.1                        #Ip address which the lidar packets will be send to\r\n\r\n<\/code><\/pre>\n<h4>3. \u91cd\u65b0\u7f16\u8bd1\u5e76\u67e5\u770b\u70b9\u4e91<\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u624b\u52a8\u7f16\u8bd1\uff08\u9700\u8981\u624b\u52a8\u542f\u52a8roscore\u3001rviz\u624d\u80fd\u770b\u5230\u53ef\u89c6\u5316\u70b9\u4e91\u7ed3\u679c\uff09\r\n cd ~\/catkin_ws\/src\/rslidar_sdk\r\nmkdir build &amp;&amp; cd build\r\ncmake .. &amp;&amp; make -j4\r\n.\/rslidar_sdk_node\r\n\r\n# ros1\u7f16\u8bd1\uff08\u4e00\u952e\u542f\u52a8\u548c\u67e5\u770b\uff09\r\ncd ~\/catkin_ws\r\ncatkin_make\r\nsource ~\/catkin_ws\/devel\/setup.bash\r\nroslaunch rslidar_sdk start.launch\r\n<code class=\"hljs bash\">\r\n# ros2\u7f16\u8bd1\uff08\u4e00\u952e\u542f\u52a8\u548c\u67e5\u770b\uff09\r\ncd ~\/ros2_ws\/src\r\ngit clone https:\/\/github.com\/RoboSense-LiDAR\/rslidar_msg.git\r\n<span class=\"token function\">git<\/span> clone -b ros2 https:\/\/github.com\/RoboSense-LiDAR\/rslidar_sdk.git\r\ncolcon build\r\nsource ~\/ros2_ws\/install\/setup.bash\r\nros2 launch rslidar_sdk start.py<\/code><\/code><\/pre>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-launch.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8435\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-launch.png\" alt=\"\" width=\"576\" height=\"608\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-launch.png 576w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-launch-284x300.png 284w\" sizes=\"(max-width: 576px) 100vw, 576px\" \/><\/a><\/p>\n<p>RS\u96f7\u8fbe\u70b9\u4e91\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-pointcloud.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8449\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-pointcloud-1024x608.png\" alt=\"\" width=\"625\" height=\"371\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-pointcloud-1024x608.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-pointcloud-300x178.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-pointcloud-768x456.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-pointcloud-624x371.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-pointcloud.png 1301w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>*\u6ce8\uff1a\u5982\u679ctcpdump\/wireshark\u90fd\u53ef\u4ee5\u6293\u52306699\/7788\u7684\u5305\uff0c\u4f46\u662frviz\u6216\u8005rsview\u90fd\u770b\u4e0d\u5230\u70b9\u4e91\uff0c\u53ef\u80fd\u662f\u88ab\u9632\u706b\u5899\u62e6\u622a\u4e86\uff08wireshark\u5de5\u4f5c\u5728\u9632\u706b\u5899\u4e4b\u524d\uff09\uff0c\u53ef\u4ee5\u5c1d\u8bd5\u5173\u95ed\u9632\u706b\u5899\u6216\u6253\u5f00\u7279\u5b9a\u7aef\u53e3\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"hljs sql\"># disable ufw\uff08\u4e0d\u8d77\u4f5c\u7528\uff09\r\nsudo ufw disable\r\n\r\n# <span class=\"hljs-keyword\">stop<\/span> iptables\uff08\u4e0d\u8d77\u4f5c\u7528\uff09\r\nsudo service iptables <span class=\"hljs-keyword\">stop<\/span>\r\n\r\n# <span class=\"hljs-keyword\">disable<\/span> firewalld\uff08\u5173\u95ed\u540e\uff0c<span class=\"hljs-keyword\">admin<\/span> prohibited filter\u62a5\u8b66\u6d88\u5931\uff09\r\nsudo systemctl <span class=\"hljs-keyword\">disable<\/span> <span class=\"hljs-comment\">--now firewalld<\/span><\/code><\/pre>\n<h1><\/h1>\n<h1><span id=\"lwptoc2\">\u56db\u3001\u96f7\u8fbeIP\u4fee\u6539<\/span><\/h1>\n<p>\u4e3a\u4e86\u8ddf\u673a\u5668\u4eba\u7aef\u7684\u65e0\u7ebf\u7f51\u7edc\u7684\u7f51\u6bb5\u9694\u79bb\uff0c\u8fd9\u91cc\u8bf4\u660e\u4e0b\u5982\u4f55\u4fee\u6539RS16\u7684IP\u914d\u7f6e\u3002<\/p>\n<h4><span id=\"1_SDKROS\">1. \u5b89\u88c5\u5de5\u5177<\/span><\/h4>\n<p>\u4e0b\u8f7d\u5b98\u65b9\u6700\u65b0\u7684RSView\u53ef\u89c6\u5316\u5de5\u5177\uff1a<a href=\"https:\/\/cdn.robosense.cn\/20230210183113_44538.zip\" target=\"_blank\" rel=\"noopener\">RSView_ubuntu20_V4.3.11.zip<\/a><\/p>\n<p>\u987a\u4fbf\u88c5\u4e2aWireshark\u7528\u6765\u4ee3\u66fftcpdump\u6293\u5305\uff1a<a href=\"https:\/\/www.wireshark.org\/download.html\" target=\"_blank\" rel=\"noopener\">Download Wireshark<\/a><\/p>\n<h4>2. Wireshark\u6293\u5305\u786e\u8ba4\u5f53\u524dIP<\/h4>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-wireshark.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8459\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-wireshark-1024x592.png\" alt=\"\" width=\"625\" height=\"361\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-wireshark-1024x592.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-wireshark-300x174.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-wireshark-768x444.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-wireshark-624x361.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-wireshark.png 1167w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>3. RSView\u8fde\u63a5\u96f7\u8fbe<\/h4>\n<p>\u9009\u62e9\u96f7\u8fbe\u578b\u53f7\u4e3aRS16\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-set.png\"><img loading=\"lazy\" class=\"alignnone wp-image-8460\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-set.png\" alt=\"\" width=\"366\" height=\"344\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-set.png 482w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-set-300x282.png 300w\" sizes=\"(max-width: 366px) 100vw, 366px\" \/><\/a><\/p>\n<p>\u914d\u7f6e\u7aef\u53e3\uff1a\uff08\u8fde\u597d\u7ebf\u5e76\u5728\u6b63\u5e38\u8f93\u51fa\u70b9\u4e91\u7684\u5728\u7ebf\u96f7\u8fbe\uff0c\u4e0d\u9700\u8981\u586bIP\u5373\u53ef\u8fde\u63a5\uff09<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-net.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8461\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-net.png\" alt=\"\" width=\"371\" height=\"315\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-net.png 371w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-net-300x255.png 300w\" sizes=\"(max-width: 371px) 100vw, 371px\" \/><\/a><\/p>\n<p>\u67e5\u770b\u70b9\u4e91\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-pointcloud.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8462\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-pointcloud-1024x648.png\" alt=\"\" width=\"625\" height=\"396\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-pointcloud-1024x648.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-pointcloud-300x190.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-pointcloud-768x486.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-pointcloud-624x395.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-pointcloud.png 1064w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u4fee\u6539\u96f7\u8fbe\u4fe1\u606f\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-info.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8463\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-info.png\" alt=\"\" width=\"426\" height=\"184\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-info.png 426w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-info-300x130.png 300w\" sizes=\"(max-width: 426px) 100vw, 426px\" \/><\/a><\/p>\n<p>\u8fd9\u91cc\u53d1\u73b0\u6700\u65b0\u7684RSView V4.3\u7248\u672c\u5728Lidar Information\u91cc\u4e0d\u80fd\u4fee\u6539RS16\u7684IP\u4e86&#8230;<\/p>\n<h4>4. RSView\u4fee\u6539\u96f7\u8fbeIP<\/h4>\n<p>\u4e0d\u6015\uff0c\u7ecf\u8fc7\u5bfb\u5bfb\u89c5\u89c5\uff0c\u627e\u5230\u4e86\u4e00\u4e2aRSView V3.1\u7684\u8001\u7248\u672c\uff1a<a href=\"https:\/\/download.csdn.net\/download\/liulian720\/89004759\" target=\"_blank\" rel=\"noopener\">RSview-V3.1\u8001\u7248\u672c\uff08\u65b0\u7684\u4e0d\u4e00\u5b9a\u597d\u7528\uff09<\/a><\/p>\n<p>\u9009\u62e9\u96f7\u8fbe\u578b\u53f7\u4e3aRS16\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-set.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8465\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-set-1024x572.png\" alt=\"\" width=\"625\" height=\"349\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-set-1024x572.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-set-300x168.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-set-768x429.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-set-624x349.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-set.png 1229w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u914d\u7f6e\u7aef\u53e3\uff1a\uff08\u8fde\u597d\u7ebf\u5e76\u5728\u6b63\u5e38\u8f93\u51fa\u70b9\u4e91\u7684\u5728\u7ebf\u96f7\u8fbe\uff0c\u4e0d\u9700\u8981\u586bIP\u5373\u53ef\u8fde\u63a5\uff09<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-port-set.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9025\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-port-set.png\" alt=\"\" width=\"562\" height=\"526\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-port-set.png 562w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-port-set-300x281.png 300w\" sizes=\"(max-width: 562px) 100vw, 562px\" \/><\/a><\/p>\n<p>\u67e5\u770b\u70b9\u4e91\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-pointcloud.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8466\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-pointcloud-1024x572.png\" alt=\"\" width=\"625\" height=\"349\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-pointcloud-1024x572.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-pointcloud-300x168.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-pointcloud-768x429.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-pointcloud-624x349.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-pointcloud.png 1226w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u5728Lidar Information\u91ccGet\u5f53\u524d\u914d\u7f6e\u4fe1\u606f\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-setip.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8467\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-setip.png\" alt=\"\" width=\"617\" height=\"518\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-setip.png 617w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-rsview-old-setip-300x252.png 300w\" sizes=\"(max-width: 617px) 100vw, 617px\" \/><\/a><\/p>\n<p>\u4fee\u6539Lidar\u53caPC\u7684IP\uff0c\u70b9\u51fbSet Lidar\uff0c\u5927\u6982\u9700\u898110s\u5de6\u53f3\uff1a\uff08\u6539\u621010.6.0\u7f51\u6bb5\u4e86\uff09<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/set-rslidar-ip-10.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-8490\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/set-rslidar-ip-10.png\" alt=\"\" width=\"617\" height=\"522\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/set-rslidar-ip-10.png 617w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/set-rslidar-ip-10-300x254.png 300w\" sizes=\"(max-width: 617px) 100vw, 617px\" \/><\/a><\/p>\n<p>tcpdump\u6216Wireshark\u6293\u5305\u786e\u8ba4IP\u4fee\u6539\u751f\u6548\u4e86\uff1a\uff0810.6.0.200\u7684lidar\uff0c\u5728\u53d1ARP\u5bfb\u627e10.6.0.110\u7684PC\uff09<\/p>\n<h4>5. \u786e\u8ba4\u65b0IP\u53ef\u8f93\u51fa\u70b9\u4e91<\/h4>\n<p>\u4fee\u6539PC\u7684IP\u4e3a10.6.0.110\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/set-pc-ip-10.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8491\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/set-pc-ip-10.png\" alt=\"\" width=\"576\" height=\"434\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/set-pc-ip-10.png 576w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/set-pc-ip-10-300x226.png 300w\" sizes=\"(max-width: 576px) 100vw, 576px\" \/><\/a><\/p>\n<p>\u91cd\u542fRSView\u6216ROS\u67e5\u770bRS16\u7684\u70b9\u4e91\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-0-pointcloud.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-8475\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-0-pointcloud-1024x587.png\" alt=\"\" width=\"625\" height=\"358\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-0-pointcloud-1024x587.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-0-pointcloud-300x172.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-0-pointcloud-768x440.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-0-pointcloud-624x358.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/rs16-0-pointcloud.png 1460w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h1><span id=\"lwptoc2\">\u4e94\u3001\u96f7\u8fbe\u65f6\u949f\u540c\u6b65<\/span><\/h1>\n<p>\u53ef\u901a\u8fc7UCWP\u7528\u6237\u914d\u7f6e\u534f\u8bae\u624b\u5de5\u8bbe\u7f6e\u65f6\u95f4\uff08\u5fae\u5999\u7c92\u5ea6\uff09\uff0c\u4e5f\u53ef\u4ee5\u4f7f\u7528\u5916\u63a5GPS\u6a21\u7ec4\u6765\u81ea\u52a8\u540c\u6b65\u65f6\u95f4\u3002<\/p>\n<p>\u5f85\u66f4\u65b0<\/p>\n<p>&nbsp;<\/p>\n<p>yan 24.3.21<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/03\/RS-LiDAR-16-\u7528\u6237\u624b\u518c-RoboSense.pdf\">RS-LiDAR-16 \u7528\u6237\u624b\u518c &#8211; RoboSense<\/a><\/p>\n<p><a href=\"https:\/\/github.com\/RoboSense-LiDAR\/rslidar_sdk\/blob\/main\/README_CN.md\" target=\"_blank\" rel=\"noopener\">RoboSense-LiDAR SDK<\/a><\/p>\n<p><a href=\"https:\/\/github.com\/RoboSense-LiDAR\/rslidar_sdk\/blob\/main\/README_CN.md\" target=\"_blank\" rel=\"noopener\">RoboSense &#8211; \u5728\u7ebf\u96f7\u8fbe &#8211; \u9ad8\u7ea7\u4e3b\u9898<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/m0_54792870\/article\/details\/120722490\" target=\"_blank\" rel=\"noopener\">\u901f\u817e\u805a\u521b16\u7ebf\u6fc0\u5149\u96f7\u8fberos\u9a71\u52a8\u5b89\u88c5\u4e0erviz\u70b9\u4e91\u5c55\u793a\u8bf4\u660e<\/a><\/p>\n<p><a href=\"https:\/\/download.csdn.net\/download\/liulian720\/89004759\" target=\"_blank\" rel=\"noopener\">RSview-V3.1\u8001\u7248\u672c\uff08\u65b0\u7684\u4e0d\u4e00\u5b9a\u597d\u7528\uff09<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001\u6982\u8ff0 RS-LiDAR-16\u662f\u901f\u817e\u805a\u521b\u63a8\u51fa\u768416\u7ebf\u6fc0\u5149\u96f7\u8fbe\uff0c\u662f\u4e00\u9897\u975e\u5e38\u5c0f\u578b\u7684\u6fc0\u5149\u96f7\u8fbe\uff0c\u4e3b\u8981\u9762\u5411\u65e0\u4eba\u9a7e\u9a76\u6c7d\u8f66 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1346],"tags":[1351,1349,1016,1350],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/8425"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=8425"}],"version-history":[{"count":4,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/8425\/revisions"}],"predecessor-version":[{"id":9083,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/8425\/revisions\/9083"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=8425"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=8425"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=8425"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}