速腾聚创16线激光雷达rslidar-16的在ubuntu下驱动安装_rslidar python驱动

1 安装

(1). Copy the whole rslidar ROS driver directory into ROS workspace, i.e “~/catkin_ws/src”.

cd ~/catkin_ws/src
git clone https://github.com/BluewhaleRobot/ros_rslidar_robosense.git
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(2). Check the file attributes:

cd ~/catkin_ws/src/ros_rslidar/rslidar_drvier
chmod 777 cfg/*
cd ~/catkin_ws/src/ros_rslidar/rslidar_pointcloud
chmod 777 cfg/*
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(3). Then to compile the source code and to install it:

cd ~/catkin_ws
catkin_make
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2 设置计算机IP

默认的device IP： 192.168.1.200 PC IP： 192.168.1.102
默认MSOP port is 6699 while DIFOP port is 7788.
需要做的是将计算机静态IP设置为 192.168.1.102.

3 启动节点

启动并显示

 cd ~/catkin_ws
 source devel/setup.bash
 roslaunch rslidar_pointcloud rs_lidar_16.launch
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仅启动

 cd ~/catkin_ws
 source devel/setup.bash
 roslaunch rslidar_pointcloud xiaoqiang_lungu.launch
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4 可能出现的编译错误及解决方法

（1）ImportError: No module named em
解决方法

python -m pip install empy
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（2）对‘FT_Done_MM_Var’未定义的引用
解决方法（2个步骤）
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将libfontconfig.so.1 从 /usr/lib/x86_64-linux-gnu 拷贝到 ~/anaconda3/lib（或者 ~/anaconda2/lib）
2.执行以下命令

cd ~/anaconda3/lib
ln -s libfontconfig.so.1.10.1 libfontconfig.so.1
ln -s libfontconfig.so.1.10.1 libfontconfig.so
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参考：

https://github.com/BluewhaleRobot/ros_rslidar_robosense