參考自大神部落格:https://blog.csdn.net/adamshan/article/details/82901295
雷射雷達:zvisionML-30(100線)
電腦環境配置:Ubuntu 16.04+ROS-kinect
1、Configure PC IP
By default, the zvision LiDAR ML30 is configured to “192.168.10.108” as its device IP and
“255.255.255.255” as destination IP.
You need configure your PC IP as a static one in the same subnet, for example
“192.168.10.10”.
2、根據使用者手冊,編譯功能包
3、建立一個功能包(pcl_test),具體參考https://blog.csdn.net/adamshan/article/details/82901295,編譯
4、啟動雷射雷達的launch檔案,啟動pcl_test的launch檔案
5、節點通訊圖如下:
![](https://img.laitimes.com/img/9ZDMuAjOiMmIsIjOiQnIsICM38FdsYkRGZkRG9lcvx2bjxiNx8VZ6l2csYDcuVWdWhVZx40MMBjVtJWd0ckW65UbM5WOHJWa5kHT20ESjBjUIF2X0hXZ0xCMx81dvRWYoNHLrdEZwZ1Rh5WNXp1bwNjW1ZUba9VZwlHdssmch1mclRXY39CXldWYtlWPzNXZj9mcw1ycz9WL49zZuBnL2cjNzETN0IjM5EDOwkTMwIzLc52YucWbp5GZzNmLn9Gbi1yZtl2Lc9CX6MHc0RHaiojIsJye.png)
可以看到,節點pcl_test_node對雷射雷達的話題/zvision_lidar_points中的消息進行處理(本例為體素濾波),然後釋出話題/filtered_points,該話題中的消息就是濾波之後的點雲資料
二者比較