- The driver is designed for ROS2 foxy
- pcl_ros
sudo apt-get install ros-foxy-pcl-ros - rviz2
sudo apt-get install ros-foxy-rviz2
- Start Docker container:
/opt/share/ros/start_ros_docker.sh $(pwd) - Inside the Docker container, cd into the repo directory and execute
colcon build
- cd into the repo directory and execute
colcon build
- After building, set environment using
source install/setup.bash - Add LD_LIBRARY_PATH using
export LD_LIBRARY_PATH=$(pwd)/install/lidar_ros_driver/lib/lidar_ros_driver:$LD_LIBRARY_PATH - Execute
ros2 launch lidar_ros_device run.launch.py - If
save_bagset toTrue, the saved bag file can be found in$(pwd)/install/lidar_ros_driver/lib/lidar_ros_driver/lidar_bag/lidar_bag_0.db3