User Guide

RS-LiDAR-32 User Manual
63
<launch>
<arg name="model" default="RS32" />
<arg name="device_ip" default="192.168.1.200" />
<arg name="msop_port" default="6699" />
<arg name="difop_port" default="7788" />
<arg name="lidar_param_path" default="$(find rslidar_pointcloud)/data/rs_lidar_32/"/>
<node name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >
<param name="model" value="$(arg model)"/>
<param name="device_ip" value="$(arg device_ip)" />
<param name="msop_port" value="$(arg msop_port)" />
<param name="difop_port" value="$(arg difop_port)"/>
<param name="pcap" value="the absolute path to your .pcap file"/>
</node>
<node name="cloud_node" pkg="rslidar_pointcloud" type="cloud_node" output="screen" >
<param name="model" value="$(arg model)"/>
<param name="curves_path" value="$(arg lidar_param_path)/curves.csv" />
<param name="angle_path" value="$(arg lidar_param_path)/angle.csv" />
<param name="channel_path" value="$(arg lidar_param_path)/ChannelNum.csv" />
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find rslidar_pointcloud)/rviz_cfg/rslidar.rviz" />
</launch>