From d11bb73bebc62c069d8af84357aa715497a2555c Mon Sep 17 00:00:00 2001 From: lyq Date: Fri, 20 Mar 2026 11:15:59 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BD=BF=E8=83=BDimu?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/perception/airy/rslidar_sdk-main/CMakeLists.txt | 2 +- .../airy/rslidar_sdk-main/config/config_front.yaml | 8 ++++---- .../airy/rslidar_sdk-main/config/config_rear.yaml | 8 ++++---- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/perception/airy/rslidar_sdk-main/CMakeLists.txt b/src/perception/airy/rslidar_sdk-main/CMakeLists.txt index e0d545d..16f273e 100644 --- a/src/perception/airy/rslidar_sdk-main/CMakeLists.txt +++ b/src/perception/airy/rslidar_sdk-main/CMakeLists.txt @@ -45,7 +45,7 @@ if(${ENABLE_SOURCE_PACKET_LEGACY}) add_definitions("-DENABLE_SOURCE_PACKET_LEGACY") endif(${ENABLE_SOURCE_PACKET_LEGACY}) -option(ENABLE_IMU_DATA_PARSE "Enable imu data parse" OFF) +option(ENABLE_IMU_DATA_PARSE "Enable imu data parse" ON) if(${ENABLE_IMU_DATA_PARSE}) message(=============================================================) diff --git a/src/perception/airy/rslidar_sdk-main/config/config_front.yaml b/src/perception/airy/rslidar_sdk-main/config/config_front.yaml index 4dab7f4..7d84670 100644 --- a/src/perception/airy/rslidar_sdk-main/config/config_front.yaml +++ b/src/perception/airy/rslidar_sdk-main/config/config_front.yaml @@ -15,7 +15,7 @@ lidar: msop_port: 6699 # Msop port of lidar difop_port: 7788 # Difop port of lidar imu_port: - 0 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu. + 6688 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu. # If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0 tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0 @@ -43,8 +43,8 @@ lidar: ros: ros_frame_id: front_lidar #Frame id of packet message and point cloud message - ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS - ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS - ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS + ros_recv_packet_topic: /rslidar_packets/front_lidar #Topic used to receive lidar packets from ROS + ros_send_packet_topic: /rslidar_packets/front_lidar #Topic used to send lidar packets through ROS + ros_send_imu_data_topic: /rslidar_imu_data/front_lidar #Topic used to send imu data through ROS ros_send_point_cloud_topic: /rslidar_points/front_lidar #Topic used to send point cloud through ROS ros_queue_length: 100 #Topic QoS history depth diff --git a/src/perception/airy/rslidar_sdk-main/config/config_rear.yaml b/src/perception/airy/rslidar_sdk-main/config/config_rear.yaml index 2142f52..74651e2 100644 --- a/src/perception/airy/rslidar_sdk-main/config/config_rear.yaml +++ b/src/perception/airy/rslidar_sdk-main/config/config_rear.yaml @@ -15,7 +15,7 @@ lidar: msop_port: 9966 # Msop port of lidar difop_port: 8877 # Difop port of lidar imu_port: - 0 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu. + 8866 # IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu. # If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt user_layer_bytes: 0 # Bytes of user layer. thers is no user layer if it is 0 tail_layer_bytes: 0 # Bytes of tail layer. thers is no tail layer if it is 0 @@ -43,8 +43,8 @@ lidar: ros: ros_frame_id: rear_lidar #Frame id of packet message and point cloud message - ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS - ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS - ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS + ros_recv_packet_topic: /rslidar_packets/rear_lidar #Topic used to receive lidar packets from ROS + ros_send_packet_topic: /rslidar_packets/rear_lidar #Topic used to send lidar packets through ROS + ros_send_imu_data_topic: /rslidar_imu_data/rear_lidar #Topic used to send imu data through ROS ros_send_point_cloud_topic: /rslidar_points/rear_lidar #Topic used to send point cloud through ROS ros_queue_length: 100 #Topic QoS history depth