Merge pull request #15042 from Lslidar/apollo_lslidar_230714

Add lslidar driver for Apollo platform,230714
ApolloAuto · Jul 14, 2023 · a3c851f · a3c851f
2 parents d5f88cb + cf81fa2
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diff --git a/modules/drivers/lidar/BUILD b/modules/drivers/lidar/BUILD
@@ -18,6 +18,7 @@ install(
         "//modules/drivers/lidar/hesai:install",
         "//modules/drivers/lidar/robosense:install",
         "//modules/drivers/lidar/velodyne:install",
+        "//modules/drivers/lidar/lslidar:install",
     ]
 )
 

diff --git a/modules/drivers/lidar/lslidar/BUILD b/modules/drivers/lidar/lslidar/BUILD
@@ -0,0 +1,27 @@
+load("//tools/install:install.bzl", "install")
+
+package(default_visibility = ["//visibility:public"])
+
+install(
+    name = "install",
+    data_dest = "drivers/addition_data/lidar/lslidar",
+    library_dest = "drivers/lib/lidar/lslidar",
+    data = [
+        ":runtime_data",
+    ],
+    targets = [
+        "//modules/drivers/lidar/lslidar/driver:liblslidar_driver_component.so",
+        "//modules/drivers/lidar/lslidar/parser:liblslidar_convert_component.so",
+    ],
+)
+
+filegroup(
+    name = "runtime_data",
+    srcs = glob([
+        "conf/*.txt",
+        "conf/*.conf",
+        "dag/*.dag",
+        "launch/*.launch",
+        "params/*.yaml",
+    ]),
+)
diff --git a/modules/drivers/lidar/lslidar/README_cn.md b/modules/drivers/lidar/lslidar/README_cn.md
@@ -0,0 +1,140 @@
+# **Lslidar LiDAR Driver**
+
+
+
+## 1、 工程简介
+
+ **lslidar** 为镭神在Apollo 8.0平台的雷达驱动集成包。 目前支持*C16，C32，CH16，CH32，CH64，CH64w，CH120，CH128,CH128X1*等型号的雷达。 
+
+
+
+##  2、 驱动运行示例
+
+#### 2.1 C16
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidar16/PointCloud2
+- Scan--/apollo/sensor/lslidar16/Scan
+- 运动补偿后点云 -- /apollo/sensor/lslidar16/compensator/PointCloud2
+
+
+####  2.2 C32
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidar32/PointCloud2
+- Scan--/apollo/sensor/lslidar32/Scan
+- 运动补偿后点云 -- /apollo/sensor/lslidar32/compensator/PointCloud2
+
+
+#### 2.3 N401(删除)
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidar401/PointCloud2
+- Scan--/apollo/sensor/lslidar401/Scan
+
+#### 2.4 CH16
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidarCH16/PointCloud2
+- Scan--/apollo/sensor/lslidarCH16/Scan
+- 运动补偿后点云 -- /apollo/sensor/lslidarCH16/compensator/PointCloud2
+
+#### 2.5 CH32
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidarCH32/PointCloud2
+- Scan--/apollo/sensor/lslidarCH32/Scan
+- 运动补偿后点云 -- /apollo/sensor/lslidarCH32/compensator/PointCloud2
+
+#### 2.6 CH64
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidarCH64/PointCloud2
+- Scan--/apollo/sensor/lslidarCH64/Scan
+- 运动补偿后点云 -- /apollo/sensor/lslidarCH64/compensator/PointCloud2
+
+#### 2.7 CH64w
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidarCH64w/PointCloud2
+- Scan--/apollo/sensor/lslidarCH64w/Scan
+- 运动补偿后点云 -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2
+
+#### 2.8 CH120
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidarCH120/PointCloud2
+- Scan--/apollo/sensor/lslidarCH120/Scan
+- 运动补偿后点云 -- /apollo/sensor/lslidarCH120/compensator/PointCloud2
+
+#### 2.9 CH128
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidarCH128/PointCloud2
+- Scan--/apollo/sensor/lslidarCH128/Scan
+- 运动补偿后点云 -- /apollo/sensor/lslidarCH128/compensator/PointCloud2
+
+#### 2.10 CH128X1
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch
+或
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag
+
+默认话题名：
+
+- 原始点云 -- /apollo/sensor/lslidarCH128X1/PointCloud2
+- Scan--/apollo/sensor/lslidarCH128X1/Scan
+- 运动补偿后点云 -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2
+
+
+
+### 常见问题
+
+-  打印“[lslidar]lslidar poll() timeout, port: 2368‘’ 表示计算平台与雷达网络不通。
+
+  可用wireshark查看是否有雷达数据；以及雷达ip和端口号参数设置是否正确。
diff --git a/modules/drivers/lidar/lslidar/README_en.md b/modules/drivers/lidar/lslidar/README_en.md
@@ -0,0 +1,142 @@
+# **Lslidar LiDAR Driver**
+
+
+
+## 1. Overview
+
+**lslidar** is a lidar driver integration package from LenShen Intelligent System Co. Ltd. for the Apollo 8.0 platform. Currently the *C16, C32, CH16, CH32, CH64, CH64w, CH120, CH128,CH128X1* lidar models are supported. 
+
+
+
+##  2. Example of driver running
+
+#### 2.1 C16
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidar16/PointCloud2
+- Scan--/apollo/sensor/lslidar16/Scan
+- Point cloud after motion compensation -- /apollo/sensor/lslidar16/compensator/PointCloud2
+
+
+####  2.2 C32
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidar32/PointCloud2
+- Scan--/apollo/sensor/lslidar32/Scan
+- Point cloud after motion compensation -- /apollo/sensor/lslidar32/compensator/PointCloud2
+
+
+#### 2.3 N401(delete)
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidar401/PointCloud2
+- Scan--/apollo/sensor/lslidar401/Scan
+
+#### 2.4 CH16
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidarCH16/PointCloud2
+- Scan--/apollo/sensor/lslidarCH16/Scan
+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH16/compensator/PointCloud2
+
+#### 2.5 CH32
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidarCH32/PointCloud2
+- Scan--/apollo/sensor/lslidarCH32/Scan
+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH32/compensator/PointCloud2
+
+#### 2.6 CH64
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidarCH64/PointCloud2
+- Scan--/apollo/sensor/lslidarCH64/Scan
+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64/compensator/PointCloud2
+
+#### 2.7 CH64w
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidarCH64w/PointCloud2
+- Scan--/apollo/sensor/lslidarCH64w/Scan
+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2
+
+#### 2.8 CH120
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidarCH120/PointCloud2
+- Scan--/apollo/sensor/lslidarCH120/Scan
+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH120/compensator/PointCloud2
+
+#### 2.9 CH128
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidarCH128/PointCloud2
+- Scan--/apollo/sensor/lslidarCH128/Scan
+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128/compensator/PointCloud2
+
+#### 2.10 CH128X1
+
+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch
+or
+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag
+
+Default topic name:
+
+- Raw point cloud -- /apollo/sensor/lslidarCH128X1/PointCloud2
+- Scan--/apollo/sensor/lslidarCH128X1/Scan
+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2
+
+
+
+### Frequently asked questions
+
+-  The printout "[lslidar]lslidar poll() timeout, port: 2368" indicates that the computing platform is not connected to the lidar network.
+
+  You can use Wireshark to see if lidar data is available; and if the lidar IP and port number parameters are set correctly.
+
+
diff --git a/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt
@@ -0,0 +1,3 @@
+world_frame_id: "world"
+transform_query_timeout: 0.02
+output_channel: "/apollo/sensor/lslidar16/compensator/PointCloud2"
diff --git a/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt
@@ -0,0 +1,30 @@
+model: LSLIDAR16P
+device_ip: "192.168.1.201"
+msop_port: 2370
+difop_port: 2371
+return_mode: 1
+degree_mode: 2        #2: 均匀2度校准两列  1://均匀1.33度校准两列
+distance_unit: 0.25
+packet_size: 1206
+time_synchronization: false
+add_multicast: false
+group_ip: "224.1.1.2"
+rpm: 600                      #雷达转速     10hz:600rpm, 20hz:1200rpm, 5hz:300rpm
+convert_channel_name: "/apollo/sensor/lslidar16/PointCloud2"
+frame_id: "lslidar16"
+scan_channel: "/apollo/sensor/lslidar16/Scan"
+min_range: 0.15
+max_range: 150.0
+config_vert: true
+scan_start_angle: 0.0
+scan_end_angle: 36000.0
+#要屏蔽的矩形区域参数
+bottom_left_x: 0.0             #左下 x值
+bottom_left_y: 0.0             #左下 y值
+top_right_x: 0.0               #右上 x值
+top_right_y: 0.0               #右上 y值
+
+calibration: false
+calibration_file: "/apollo/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml"
+pcap_path: ""                    #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空
+
diff --git a/modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt
@@ -0,0 +1,3 @@
+world_frame_id: "world"
+transform_query_timeout: 0.02
+output_channel: "/apollo/sensor/lslidar16v4/compensator/PointCloud2"
diff --git a/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt
@@ -0,0 +1,26 @@
+model: LSLIDAR_C16_V4
+device_ip: "192.168.1.200"
+msop_port: 2368
+difop_port: 2369
+return_mode: 1
+degree_mode: 2      #2: 均匀1度校准两列  1://均匀0.33度校准两列
+distance_unit: 0.4
+packet_size: 1212
+time_synchronization: false
+add_multicast: false
+group_ip: "224.1.1.2"
+rpm: 600
+convert_channel_name: "/apollo/sensor/lslidar16v4/PointCloud2"
+frame_id: "lslidar16v4"
+scan_channel: "/apollo/sensor/lslidar16v4/Scan"
+min_range: 0.15
+max_range: 150.0
+config_vert: true
+scan_start_angle: 0.0
+scan_end_angle: 36000.0
+#要屏蔽的矩形区域参数
+bottom_left_x: 0.0             #左下 x值
+bottom_left_y: 0.0             #左下 y值
+top_right_x: 0.0               #右上 x值
+top_right_y: 0.0               #右上 y值
+pcap_path: ""    #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空
diff --git a/modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt
@@ -0,0 +1,3 @@
+world_frame_id: "world"
+transform_query_timeout: 0.02
+output_channel: "/apollo/sensor/lslidar1v4/compensator/PointCloud2"