Appendix D RS-Helios-16P ROS&ROS2 Package
This appendix explains how to use Ubuntu+ROS or Ubuntu+ROS2 to acquire and visualize RS-
Helios-16P data.
D.1 Install Software
1. Download and install Ubunutu 16.04 /18.04/20.04 operating system. (ROS2 users are imperative
to use the Ubuntu 18.04/20.04 system)
2. ROS users: Install and test the basic functions of ROS Kinetic according to the link
(http://wiki.ros.org/kinetic/Installation ). (For Ubuntu 18.04 users, please install ROS-melodic)
ROS2 users: Install and test the basic functions of ROS2 Eloquent according to the link
(https://index.ros.org/doc/ros2/Installation/Eloquent/).
3. Download and install libpcap-dev.
D.2 Download & Compile RoboSense LiDAR Driver Package
You can get the latest LiDAR driver package from https://github.com/RoboSense-
LiDAR/rslidar_sdk, or contact our technical support to get it. After downloading, please read the
README file in the driver package carefully, which describes in detail how to compile and use the
LiDAR driver package.
rslidar_sdk is our latest LiDAR driver package, which has included drivers for five mechanical
LiDAR sensors: RS-16, RS-32, RS-BP, RS-Ruby and RS-Helios-16P. Three compilation modes are
supported:
1. Direct Compilation
The user enters the main directory of the rslidar_sdk driver package and creates a build folder to
compile and run.
mkdir build
cd build
cmake .. && make
./rslidar_sdk_node
2. Compilation in ROS
Create ros working directory:
cd ~
mkdir -p catkin_ws/src
Copy the rslidar_sdk driver package to the ROS working directory ~/catkin_ws/src. Open the
CMakeLists.txt file in the rslidar_sdk driver package, and change the set(COMPILE_METHOD
ORIGINAL) at the top of the file to set(COMPILE_METHOD CATKIN). At the same time, rename the
package_ros1.xml file in the driver package to package.xml., and change the LiDAR type in the
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