RS-LiDAR-16 User Manual
Appendix D ▪ RS-LiDAR-16 ROS Package
This appendix describes how to use ROS to view the RS-LiDAZR-16 data.
D.1 Prerequisite
1. Download and install Ubuntu 16.04.
2. Please refer the link (http://wiki.ros.org/kinetic/Installation) to install the ROS kinetic version.
3. Download and install libpcap-dev.
D.2 Install RS-LiDAR-16 ROS Package
1. Create the work space for ros:
cd ~
mkdir -p catkin_ws/src
2. Copy the ros_rslidar_package into the work space ~/catkin_ws/src. You can find the ros_rslidar
package in the U disk in the RS-LiDAR-16 box. You can also ask RoboSense to get these files. The
latest version of the ros_rslidar driver can be downloaded from
https://github.com/RoboSense-LiDAR/ros_rslidar.
3. Build
cd ~/catkin_ws
catkin_make
4. Place the configuration file corresponding to the LiDAR：
The configuration file is in the USB disk shipped with the LiDAR. You need to copy the .csv file in the
configuration_data folder from the USB disk to the folder specified in the launch file. This path can be
customized. For example: rslidar_pointcloud/data/rs_lidar_16.
Note: If there are not configuration files in USB stick or a USB stick, use the configuration by default.
D.3 Configure PC IP address
For the default RS-LiDAR-16 firmware, it is configured the “192.168.1.200” as its own IP address, and
the “192.168.1.102” as its destination PC IP address. So we need set the PC static IP as
“192.168.1.102” and the net mask as “255.255.255.0”, while the gateway address is not necessary.
After configuration, we can use “ifconfig” command to check if the IP is work.
D.4 View the real time data
1. Connect the RS-LiDAR-16 to your PC via RJ45 cable, and power on it.
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