官方github

1、ROBOSENSE 驱动安装并运行

1、改雷达型号
2、修改网口地址

3、改变点的类型
https://github.com/RoboSense-LiDAR/rslidar_sdk/blob/main/doc/howto/05_how_to_change_point_type.md

2、ROBOSENSE 点云转换成 velodyne

git clone https://github.com/HViktorTsoi/rs_to_velodyne.git
#新建launch文件夹
gedit rs2velodyne.launch
#rs2velodyne.launch 内容
<launch>
  <node pkg="rs_to_velodyne" name="rs_to_velodyne" type="rs_to_velodyne"  args="XYZIRT XYZIRT"   output="screen">
  </node>
</launch>

报错Failed to find match for field ‘intensity’.

修改源代码intensity变量的数据类 uint8_t修改成double

#运行
roslaunch rs_to_velodyne rs2velodyne.launch