RoboSense RS-LiDAR-M1 - Page 42

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RS-LiDAR-M1 User Guide
1. Direct compilation
$cmake -DENABLE_TRANSFORM=ON
$make -j4
2.ROS compilation
$catkin_make -DENABLE_TRANSFORM=ON
2. ROS2 compilation
$colcon build --cmake-args '-DENABLE_TRANSFORM=ON'
B.2.4.3 Set the Coordinate Transformation Parameters
The coordinate transformation parameters are the LiDAR part hidden parameters,
including x, y, z, roll, pitch, and yaw. Here is an example of the parameter file, which can
be configured by the user according to the actual situation.
common:
msg_source: 1
send_packet_ros: false
send_point_cloud_ros: true
send_packet_proto: false
send_point_cloud_proto: false
pcap_path: /home/robosense/lidar.pcap
lidar:
- driver:
lidar_type: RS128
frame_id: /rslidar
msop_port: 6699
difop_port: 7788
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: false
x: 1
y: 0
z: 2.5
roll: 0.1
pitch: 0.2
yaw: 1.57