cd ~
mkdir -p catkin_ws/src
Appendix D RS-Bpearl ROS Package
This appendix describes how to use Ubuntu + ROS to acquiring and visualizing the
measuring data from RS-Bpearl.
D.1 Software Installation
1. Download and Install Ubuntu 16.04 OS.
2. Please refer the link (http://wiki.ros.org/kinetic/Installation) to install the ROS Kinetic.
3. Download and install libpcap-dev.
D.2 Compile RS-Bpearl ROS Package
1. Create a workspace for ROS:
2. Copy the corresponding ros_rslidar_package into the ROS workspace under the path:
~/catkin_ws/src. The latest ros_rslidar driver can be downloaded from
https://github.com/RoboSense-LiDAR/ros_rslidar or contact Robosense support.
3. Build：
cd ~/catkin_ws
catkin_make
4. Place the configuration file of corresponding LiDAR into PC:
5. At present, configuration files have been written in LiDAR. If not, use the configuration
files by default in ROS-Driver. Meanwhile, update the parameter in launch file. This path of
launch file can be customized.
6. For example: rslidar_pointcloud/data/rs_Bpearl
7. Note: If user needs to modify the code, relevant code files could not be read.
D.3 Configure PC IP address
For the default RS-Bpearl firmware, static IP address of PC is configured to
“192.168.1.102”, submask: “255.255.255.0”, gateway doesn’t need to configure.
After configuring the static IP, it can be examined in CMD with code ifconfig.
D.4 Display of the real-time data
1. Connect the RS-Bpearl to PC via twister pair wire with RJ45 connector, power on it,
then wait for PC cognizing LiDAR.
2. An example launch file has been provided under path: rslidar_pointcloud/launch, in
order to starting the node that can be run to visualize the real-time point cloud data. Open
a terminal with a location as shown as below:
cd ~/catkin_ws
source devel/setup.bash
roslaunch rslidar_pointcloud rs_Bpearl.launch
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