RS-LiDAR-32 User Manual
D.4 View the real time data
1. Connect the RS-LiDAR-32 to your PC via RJ45 cable, and power on it.
2. We have provided an example launch file named “rs_lidar_32.launch” 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_32.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-32.
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_32.launch” file to something like below (please pay attention to the red line):
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