RoboSense RS-LiDAR-16 - D.5 Viewing Recorded PCAP Files with ROS

RS-LiDAR-16 User Manual
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2. We have provided an example launch file under rslidar_pointcloud/launch to start the node, we can
run the launch file to view the real time point cloud data. Open a terminal:
cd ~/catkin_ws
source devel/setup.bash
roslaunch rslidar_pointcloud rs_lidar_16.launch
3. Open a new terminal:
rviz
Set the Fixed Frame to "rslidar". Add a Pointcloud2 type and set the topic to "rslidar_points":
Figure D - 1:
Rviz displays point cloud data of RS-LiDAR-16.
D.5 View the recorded pcap file offline
We can also use the ros_rslidar ROS package to view the recorded .pcap data.
1. Modify the “rs_lidar_16.launch” file to something like below (please pay attention to the red line):
<launch>
<arg name="model" default="RS16" />
<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_16/"/>
<node name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >