how_to_offline_decode_pcap.md 7.1 KB
How to decode pcap bag and send point cloud to ROS
1 Introduction
This document will show you how to decode pcap bag and send point cloud to ROS. Please make sure you have read the LiDAR user-guide and Intro to parameters before reading this document.
2 Steps
Please follow the steps below.
2.1 Get the data port number & ip address
Please follow the instructions in LiDAR user-guide to connect the LiDAR and set up your computer's ip address. And now you should be able to use RSView to see the point cloud. At this time, you should have already known your LiDAR's msop port number, difop port number, and device ip address. The default is msop-6699, difop-7788, ip-192.168.1.200. If you have no idea what it is, please check the LiDAR user-guide first.
2.2 Set up the common part of the config file
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
Since the message come from the pcap bag, set msg_source = 3.
Send point cloud to ROS so set send_point_cloud_ros = true.
Make sure the pcap_path is correct.
2.3 Set up the lidar-driver part of the config 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.
Set the lidar_type to your LiDAR type --- RS16, RS32, RSBP, RS128, RS80.
Set the device_ip to your LiDAR's ip address. the default is device_ip = 192.168.1.200.
Set the msop_port and difop_port to your LiDAR's port number. The default is msop = 6699 and difop = 7788.
2.4 Set up the lidar-ros part of the config 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
Set the ros_send_point_cloud_topic to the topic you want to send.
2.5 Run
Run the demo
Here is the overview for the whole config file.
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