how_to_use_protobuf_function_cn.md 13 KB
如何使用Protobuf函数发送和接收消息
1 介绍
假设有两台计算机，PC-A和PC-B，并且它们彼此相距很远。 将LiDAR与PC-A连接，由于某些原因，想在PC-B中使用点云消息。 此时，可能需要使用protobuf功能。 通常，有两种方法可以实现此目标。
PC-A将雷达packet消息发送到PC-B。 PC-B收到雷达packet消息并对其进行解码，然后PC-B获得点云消息并使用它。
PC-A解码雷达packet消息，获取点云并将点云消息发送到PC-B。 PC-B收到点云消息并直接使用。
rslidar_sdk提供这两种方式，但是通常建议使用第一种方法，因为点云消息非常大，对带宽有较高要求。
2 通过Protobuf-UDP发送和接收 packets
首先请阅读参数简介，了解基本的参数配置。
2.1 PC-A(发送端)
common:
msg_source: 1 #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: false #true: Send point cloud through ROS or ROS2
send_packet_proto: true #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
由于数据来自在线LiDAR，因此请设置 msg_source = 1 。
通过protobuf-UDP发送雷达packet，因此设置 send_packet_proto = true 。
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.
检查雷达的 msop_port，difop_port 是否正确。
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
发送packet数据只需要关注三个参数，即 msop_send_port，difop_send_port，packet_send_ip 。 可以根据需要调整它们。
2.2 PC-B(接收端)
common:
msg_source: 4 #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
由于数据包消息来自protobuf-UDP，因此请设置 msg_source = 4 。
需要在ROS-Rviz上查看点云，因此设置 send_point_cloud_ros = true 。
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.
检查 lidar_type 是否正确。
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
接收packet数据只需要关注两个参数，即 msop_recv_port，difop_recv_port 。 必须确保它们与发送端中的 msop_send_port，difop_send_port 设置相同。
3 通过Protobuf-UDP发送和接收点云
首先请阅读参数简介，了解基本的参数配置。
3.1 PC-A(发送端)
common:
msg_source: 1 #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: false #true: Send point cloud through ROS or ROS2
send_packet_proto: false #true: Send packets through Protobuf-UDP
send_point_cloud_proto: true #true: Send point cloud through Protobuf-UDP
pcap_path: /home/robosense/lidar.pcap #The path of pcap file
由于数据来自在线LiDAR，因此请设置 msg_source = 1 。
通过protobuf-UDP发送数据包，因此设置 send_packet_proto = true 。
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.
检查 lidar_type,msop_port,difop_port 是否正确。
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
发送点云只需要关注两个参数，即 *point_cloud_send_port, point_cloud_send_ip*。可以根据需要调整它们。
3.2 PC-B(接收端)
common:
msg_source: 5 #0--not use Lidar
#1--packet message come from online lidar
#2--packet message come from ROS or ROS2
#3--packet message come from Pcap file
#4--packet message come from Protobuf-UDP
#5--point cloud 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
由于点云消息来自protobuf-UDP，因此请设置 msg_source = 5 。
需要在ROS-Rviz上查看点云，因此设置 send_point_cloud_ros = true 。
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
接收点云只需要关注 point_cloud_recv_port 。 必须确保它与发送端中设置的 point_cloud_send_port 相同。