Ubuntu18.04安装RS-Helios 32线激光雷达

1.安装ROS，安装教程见[Ubuntu18.04安装ROS（melodic）](https://blog.csdn.net/qq_44764437/article/details/127816130)

2.硬件连接设置
将设备连接电源之后，首先通过系统设置——网络——有线——选项，更改IPv4设置，将方式改为“手动”，地址“192.168.1.102”，子网掩码“255.255.255.0”。地址获取方法：利用wireshark软件获取，安装及使用见Rsview操作手册

3.编译驱动

驱动下载地址：https://github.com/RoboSense-LiDAR/rslidar_sdk/releases
注意：下载 rslidar_sdk.tar.gz 压缩包， 不要下载Source code， 因为Source code压缩包内不包含子模块rs_driver的代码

安装依赖

(1) Yaml
版本号: >= v0.5.2
若已安装ROS desktop-full, 可跳过
安装方式:

sudo apt-get update
sudo apt-get install -y libyaml-cpp-dev

(2) Pcap
版本号： >=v1.7.4
安装方式：

sudo apt-get install -y  libpcap-dev

(3) Protobuf
版本号： >=v2.6.1
安装方式:

sudo apt-get install -y libprotobuf-dev protobuf-compiler

编译运行

(1) 打开工程内的CMakeLists.txt文件，将文件顶部的set(COMPILE_METHOD ORIGINAL)改为set(COMPILE_METHOD CATKIN)

#=======================================
# Compile setup (ORIGINAL,CATKIN,COLCON)
#=======================================
set(COMPILE_METHOD CATKIN)

(2) 将rslidar_sdk工程目录下的package_ros1.xml文件内容复制到*package.xml

(3) 修改配置文件rslidar_sdk/config/config.yaml,在线模式将msg_source改为1，将lidar_type改为RSHELIOS

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
  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
lidar:
  - driver:
      lidar_type: RSHELIOS             #LiDAR type - RS16, RS32, RSBP, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, RSM1, RSM2, RSEOS, RSM1_JUMBO
      msop_port: 6699              #Msop port of lidar
      difop_port: 7788             #Difop port of lidar
      start_angle: 0               #Start angle of point cloud
      end_angle: 360               #End angle of point cloud 
      wait_for_difop: true
      min_distance: 0.2            #Minimum distance of point cloud
      max_distance: 200            #Maximum distance of point cloud
      use_lidar_clock: false       #True--Use the lidar clock as the message timestamp
                                   #False-- Use the system clock as the timestamp
      pcap_path: /home/robosense/lidar.pcap #The path of pcap file
    ros:
      ros_frame_id: rslidar                           #Frame id of packet message and point cloud message
      ros_recv_packet_topic: /rslidar_packets          #Topic used to receive lidar packets from ROS
      ros_send_packet_topic: /rslidar_packets          #Topic used to send lidar packets through ROS
      ros_send_point_cloud_topic: /rslidar_points      #Topic used to send point cloud through ROS

(4) 新建一个文件夹作为工作空间， 将rslidar_sdk工程放入src文件夹内

(5) 返回工作空间目录，执行以下命令即可编译&运行

catkin_make
source devel/setup.bash
roslaunch rslidar_sdk start.launch

到此Ubuntu18.04安装RS-Helios 32线激光雷达完成。