<<PackageHeader(lslidar_c16)>> <<TOC(4)>>

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## CategoryPackage

== Overview ==
This ''lslidar_c16'' package is a linux ROS driver for lslidar c16 from Shenzhen Leishen Intelligence System Co, Ltd.

lslidar-c16 is a 16 channels hybird solid state lidar based on TOF working principle. The maximum detection range is up to 200m (different model has different maximum range).

 * Vertical viewing angle is from -15 degree to 15 degree
 * Horizontal viewing angle is 360 degree
 * Maximum angular resolution is 0.09 degree at 5Hz.
 * Normal angular resolution is 0.18 degree at 10Hz

This package is tested on Ubuntu 14.04 with ROS indigo and Ubuntu 16.04 with ROS kinetic.


== ROS ==
=== lslidar_c16_msgs ===
Package contains self-defined ROS message type used for lslidar-c16

 * <<MsgLink(lslidar_c16_msgs/LslidarC16Packet)>>
  Original UDP packet block data
 * <<MsgLink(lslidar_c16_msgs/LslidarC16Point)>>
  Resolved point infomation
 * <<MsgLink(lslidar_c16_msgs/LslidarC16Scan)>>
  Point information for specific channel
 * <<MsgLink(lslidar_c16_msgs/LslidarC16Sweep)>>
  Whole point cloud data of 16 channels

=== lslidar_c16_driver ===

==== Parameters ====

 * `lidar_ip` (`string`, `default: 192.168.1.200`)
   By default, the IP address of the device is 192.168.1.200.

 * `device_port` (`int`, `default: 2368`)
   By default, the Port address of the device is 2368.

 * `frame_id` (`string`, `default: laser`)
   The frame ID entry for the sent messages.

 * `add_multicast` (`bool`, `default: false`)
   Whether using group multicast or not

 * `group_ip` (`string`, `default: 234.2.3.2`)
   The group IP address of the device. Only useful when setting add_multicast to true

==== Published Topics ====

 * `lslidar_packets` (`lslidar_c16_msgs/LslidarC16Packet`)
   Each message corresponds to a lslidar packet sent by the device through the Ethernet.


=== lslidar_c16_decoder ===

==== Parameters ====

 * `min_range` (`double`, `0.15`)

 * `max_range` (`double`, `150.0`)
  Points outside this range will be removed.

 * `frequency` (`frequency`, `10.0`)
  Note that the driver does not change the frequency of the sensor. 

 * `publish_point_cloud` (`bool`, `true`)
  If set to true, the decoder will send out a full revolution point cloud data

 * `use_gps_ts` (`bool`, `false`)
  If set to true, the decoder synchronized with GPS timestamp

 * `angle3_disable_min` (`double`, `-1`)
  Ignore 3D point cloud data from angle3_disable_min to angle3_disable_max; Default -1 means disable this function; Value should from 0 to 2*pi

 * `angle3_disable_max` (`double`, `-1`)
  Ignore 3D point cloud data from angle3_disable_min to angle3_disable_max; Default -1 means disable this function; Value should from 0 to 2*pi

==== Published Topics ====

 * `lslidar_sweep` (`lslidar_c16_msgs/LslidarC16Sweep`)
  The message arranges the points within each sweep based on its scan index and azimuth.

 * `lslidar_point_cloud` (`sensor_msgs/PointCloud2`)
  This is only published when the `publish_point_cloud` is set to `true` in the launch file.

==== Subscribed Topics ====

 * `lslidar_packets` (`lslidar_c16_msgs/LslidarC16Packet`)
   Each message corresponds to a lslidar packet sent by the device through the Ethernet.

== Usage ==
Before running lslidar-c16 driver, make sure you set up IP address correctly.
Using following command to check if device is communicating. Replace `eth0` with your correct computer network interface

{{{
sudo tcpdump -i eth0
}}}

Running following commmand to launch lslidar c16 driver

{{{
roslaunch lslidar_c16_decoder lslidar_c16.launch --screen
}}}

Note that this launch file launches both the driver and the decoder, which is the only launch file needed to be used.



== FAQ ==
=== Cannot open UDP port ===
Make Sure your IP setting for bot device IP and computer IP is correct.
Default device IP is 192.168.1.200 and port is 2368.
Default computer IP is 192.168.1.102


=== lslidar poll() timeout ===
Make Sure your IP setting for bot device IP and computer IP is correct.
Default device IP is 192.168.1.200 and port is 2368.
Default computer IP is 192.168.1.102

== Related Links ==
http://en.leishen-lidar.com/

https://github.com/Lslidar/Lslidar_ROS1_driver