# 如何解码pcap包并发送点云数据到ROS ## 1 简介 ​ 本文档将展示如何解码pcap包并发送点云数据到ROS。 在阅读本文档之前，请确保已阅读雷达用户手册和 [参数简介](../intro/parameter_intro.md) 。 ## 2 步骤 ​ 请按照以下步骤进行配置。 #### 2.1 获取数据端口号 & IP地址 ​ 首先根据雷达用户手册连接雷达并设置好您的电脑的IP地址。此时应该已经可以使用RSView软件查看点云。并已知雷达的msop端口号, difop端口号和ip地址，默认端口是*msop = 6699* ， *difop = 7788*, 默认ip地址是*ip=192.168.1.200*。 如果不清楚上述内容，请查看雷达用户手册。 #### 2.2 设置参数文件的common部分 ```yaml common: msg_source: 3 #0: not use Lidar #1: packet message comes from online Lidar #2: packet message comes from ROS or ROS2 #3: packet message comes from Pcap file #4: packet message comes from Protobuf-UDP #5: point cloud comes from Protobuf-UDP send_packet_ros: false #true: Send packets through ROS or ROS2(Used to record packet) send_point_cloud_ros: true #true: Send point cloud through ROS or ROS2 send_packet_proto: false #true: Send packets through Protobuf-UDP send_point_cloud_proto: false #true: Send point cloud through Protobuf-UDP pcap_path: /home/robosense/lidar.pcap #The path of pcap file ``` ​ 由于消息来自pcap包，因此请设置 *msg_source = 3* 。 ​ 将点云发送到ROS以查看，因此设置 *send_point_cloud_ros = true* 。 ​ 请确保 pcap包的路径*pcap_path* 是正确的。 #### 2.3 设置参数文件的 lidar-driver部分 ```yaml lidar: - driver: lidar_type: RS128 #The lidar type - RS16, RS32, RSBP, RS128, RS80 frame_id: /rslidar #The frame id of message device_ip: 192.168.1.200 #The device ip address msop_port: 6699 #The msop port of lidar,default is 6699 difop_port: 7788 #The difop port of lidar, default is 7788 start_angle: 0 #The start angle of point cloud area end_angle: 360 #The end angle of point cloud area min_distance: 0.2 #The minimum distance of point cloud area max_distance: 200 #The maximum distance of point cloud area use_lidar_clock: false #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestamp angle_path: /home/robosense/angle.csv #The path of the angle calibration file. For the latest version lidars, there is no need to use this file. ``` ​ 将 *lidar_type* 设置为LiDAR类型 - -RS16，RS32，RSBP，RS128, RS80。 ​ 设置 *device_ip* 为LiDAR的IP地址, 默认值为 *device_ip = 192.168.1.200* 。 ​ 设置 *msop_port* 和 *difop_port* 为雷达数据端口号, 默认值为 *msop = 6699 和 difop = 7788* 。 ​ #### 2.4设置配置文件的lidar-ros部分 ```yaml ros: ros_recv_packet_topic: /rslidar_packets #The topic which used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_packets #The topic which used to send lidar packets through ROS ros_send_point_cloud_topic: /rslidar_points #The topic which used to send point cloud through ROS ``` ​ 将 *ros_send_point_cloud_topic* 设置为发送点云的话题。 #### 2.5 运行 ​ 运行示例程序。 --- **这是整个参数文件的示例** ```yaml common: msg_source: 3 #0: not use Lidar #1: packet message comes from online Lidar #2: packet message comes from ROS or ROS2 #3: packet message comes from Pcap file #4: packet message comes from Protobuf-UDP #5: point cloud comes from Protobuf-UDP send_packet_ros: false #true: Send packets through ROS or ROS2(Used to record packet) send_point_cloud_ros: true #true: Send point cloud through ROS or ROS2 send_packet_proto: false #true: Send packets through Protobuf-UDP send_point_cloud_proto: false #true: Send point cloud through Protobuf-UDP pcap_path: /home/robosense/lidar.pcap #The path of pcap file lidar: - driver: lidar_type: RS128 #The lidar type - RS16, RS32, RSBP, RS128, RS80 frame_id: /rslidar #The frame id of message device_ip: 192.168.1.200 #The device ip address msop_port: 6699 #The msop port of lidar,default is 6699 difop_port: 7788 #The difop port of lidar, default is 7788 start_angle: 0 #The start angle of point cloud area end_angle: 360 #The end angle of point cloud area min_distance: 0.2 #The minimum distance of point cloud area max_distance: 200 #The maximum distance of point cloud area use_lidar_clock: false #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestamp angle_path: /home/robosense/angle.csv #The path of the angle calibration file. For the latest version lidars, there is no need to use this file. ros: ros_recv_packet_topic: /rslidar_packets #The topic which used to receive lidar packets from ROS ros_send_packet_topic: /rslidar_packets #The topic which used to send lidar packets through ROS ros_send_point_cloud_topic: /rslidar_points #The topic which used to send point cloud through ROS proto: point_cloud_recv_port: 60021 #The port number used for receiving point cloud point_cloud_send_port: 60021 #The port number which the point cloud will be send to point_cloud_send_ip: 127.0.0.1 #The ip address which the point cloud will be send to msop_recv_port: 60022 #The port number used for receiving lidar msop packets difop_recv_port: 60023 #The port number used for receiving lidar difop packets msop_send_port: 60022 #The port number which the msop packets will be send to difop_send_port: 60023 #The port number which the difop packets will be send to packet_send_ip: 127.0.0.1 #The ip address which the lidar packets will be send to ```