Problem with rs_driver_viewer and ros

[wongearth]

1. I am running rslidar_sdk on ubuntu20.04. The build process went fine. But when I run the rs_driver-viewer, the point cloud collapses onto a plane.

2. I tried to run on ROS by following the instruction. I ran /.rslidar_sdk_node but the error message ERRCODE_NODIFOPRECV occurred below.

Any solutions? please help?!

mc@mc-MSI:~/catkin_ws/src/rslidar_sdk/build/devel/lib/rslidar_sdk$ ./rslidar_sdk_node

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********** RSLidar_SDK Version: v1.5.10 **********

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Receive Packets From : Online LiDAR

Msop Port: 6699
Difop Port: 7788

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         RoboSense Driver Parameters 

input type: ONLINE_LIDAR
lidar_type: RSHELIOS
frame_id: rslidar

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         RoboSense Input Parameters 

msop_port: 6699
difop_port: 7788
host_address: 0.0.0.0
group_address: 0.0.0.0
pcap_path: /home/robosense/lidar.pcap
pcap_rate: 1
pcap_repeat: 1
use_vlan: 0
user_layer_bytes: 0
tail_layer_bytes: 0

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         RoboSense Decoder Parameters 

wait_for_difop: 1
min_distance: 0.2
max_distance: 150
start_angle: 0
end_angle: 360
use_lidar_clock: 0
dense_points: 0
config_from_file: 0
angle_path:
split_frame_mode: 1
split_angle: 0
num_blks_split: 0

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         RoboSense Transform Parameters 

x: 0
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0

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Send Packets To : ROS
Msop Topic: /rslidar_packets

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Send PointCloud To : ROS
PointCloud Topic: /rslidar_points

RoboSense-LiDAR-Driver is running.....
ERRCODE_NODIFOPRECV
ERRCODE_NODIFOPRECV
ERRCODE_NODIFOPRECV

[FelixHuang18]

It seems to be caused by not receiving the DIFOP packet. You need to check that the DIFOP port number is correctly set.