RoboSense RS-LiDAR-M1 - Page 41

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RS-LiDAR-M1 User Guide
packet_send_ip: 127.0.0.1
- driver:
lidar_type: RSBP
frame_id: /rslidar
msop_port: 1990
difop_port: 1991
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
ros:
ros_recv_packet_topic: /left/rslidar_packets
ros_send_packet_topic: /left/rslidar_packets
ros_send_point_cloud_topic: /left/rslidar_points
proto:
point_cloud_recv_port: 60024
point_cloud_send_port: 60024
msop_recv_port: 60025
msop_send_port: 60025
difop_recv_port: 60026
difop_send_port: 60026
point_cloud_send_ip: 127.0.0.1
packet_send_ip: 127.0.0.1
B.2.4 Coordinate Transformation
rslidar_sdk provides a built-in coordinate transformation feature, which can directly
output the point cloud after coordinate transformation, which significantly saves the user's
time-consuming operation of coordinate transformation on the point cloud. This section
will guide users how to use the built-in coordinate transformation feature of rslidar_sdk to
output the point cloud after coordinate transformation.
B.2.4.1 Dependencies
To enable the coordinate transformation feature, the following dependencies need to be
installed:
 Eigen3
Command installation method:
$sudo apt-get install libeigen3-dev
B.2.4.2 Compilation
To enable the coordinate transformation function, the ENABLE_TRANSFORM option
needs to be set as ON when compiling the program.