室内建图步骤:
rm_nav s
rm_nav x
然后开着车在室内跑跑 确保每一处都扫到后再
rm_nav v
生成的点云在
/home/gkd/scans.pcd
雷达查看软件在
/home/gkd/Downloads/LivoxViewer2 for Ubuntu v2.3.0
进入后左上角ip选择192.168.12.4 (连接雷达的网线上本机ip)
ifconfig:
enx00e04c36f8cc: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.12.4 netmask 255.255.255.0 broadcast 192.168.12.255
inet6 fe80::1127:9cea:efe8:9871 prefixlen 64 scopeid 0x20<link>
ether 00:e0:4c:36:f8:cc txqueuelen 1000 (Ethernet)
RX packets 1522680 bytes 1988370679 (1.9 GB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 950 bytes 383368 (383.3 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
setting中可配置雷达ip，现在是192.168.12.3（但最好不要改）
若更改雷达ip后，需要更改docker中扫图的配置文件
先
rm_nav e
进入docker系统
打开
/root/catkin_livox_ros_driver2/src/livox_ros_driver2/config/MID360_config.json
{
"lidar_summary_info" : {
"lidar_type": 8
},
"MID360": {
"lidar_net_info" : {
"cmd_data_port": 56100,
"push_msg_port": 56200,
"point_data_port": 56300,
"imu_data_port": 56400,
"log_data_port": 56500
},
"host_net_info" : {
"cmd_data_ip" : "192.168.12.4",
"cmd_data_port": 56101,
"push_msg_ip": "192.168.12.4",
"push_msg_port": 56201,
"point_data_ip": "192.168.12.4",
"point_data_port": 56301,
"imu_data_ip" : "192.168.12.4",
"imu_data_port": 56401,
"log_data_ip" : "",
"log_data_port": 56501
}
},
"lidar_configs" : [
{
"ip" : "192.168.12.3",
"pcl_data_type" : 1,
"pattern_mode" : 0,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
}
]
}
把host_net_info更改为本机ip(注意是连接雷达网线上的本机ip)
lidar_configs中的ip更改为新的雷达ip