8 How to decode PCAP file
8.1 Introduction
This document illustrates how to decode PCAP file, and send point cloud to ROS.
Please make sure you have read the LiDAR user-guide and Intro to parameters before reading this document.
8.2 Steps
8.2.1 Get the LiDAR port number
Please check the LiDAR user-guide, or use the 3rd-party tool(such as WireShark), to get your LiDAR’s MSOP port number and DIFOP port number. The default values are msop-6699, difop-7788
.
8.2.2 Set up the configuration file
Set up the configuration file config.yaml
.
8.2.2.1 common part
common:
msg_source: 3
send_packet_ros: false
send_point_cloud_ros: true
The messages come from the PCAP bag, so set msg_source = 3
.
Send point cloud to ROS, so set send_point_cloud_ros = true
.
8.2.2.2 lidar-driver part
lidar:
- driver:
lidar_type: RSAIRY
msop_port: 6699
difop_port: 7788
imu_port: 6688
start_angle: 0
end_angle: 360
min_distance: 0.2
max_distance: 200
use_lidar_clock: true
pcap_path: /home/robosense/lidar.pcap
Set the pcap_path
to the absolute path of the PCAP file.
Set the lidar_type
to your LiDAR type.
Set the msop_port
,difop_port
and difop_port
to your LiDAR’s port number.
8.2.2.3 lidar-ros part
ros:
ros_frame_id: rslidar
ros_recv_packet_topic: /rslidar_packets
ros_send_packet_topic: /rslidar_packets
ros_send_imu_data_topic: /rslidar_imu_data
ros_send_point_cloud_topic: /rslidar_points
Set the rslidar_imu_data
and ros_send_point_cloud_topic
to the topic you want to send to.
8.2.3 Run
Run the program.