基于 RO1 noetic 配置 robosense Helios 32（速腾） xsense mti 300

安装辅助工具sudo apt install wireshark-qt启动辅助工具sudo wireshark记录下 Who 和 Tell 后面的 IP 地址Who 是要给电脑设置的 IP 地址Tell 是雷达自身的 IP 地址在网页中访问雷达 IP 地址记录下这些配置为电脑配置 IP 地址测试电脑能否 ping 通雷达配置 xsense mti 300为 IMU 的 USB 接口赋予权限ls /dev/tty # 双击 Tab 键 sudo chmod 777 /dev/ttyUSB0下载并编译驱动功能包下载并编译雷达驱动功能包mkdir -p driver_ws/src cd driver_ws/src git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git cd rslidar_sdk git submodule init git submodule updatesudo apt-get update sudo apt-get install -y libyaml-cpp-dev sudo apt-get install -y libpcap-devcd driver_ws catkin_make下载并编译 IMU 驱动功能包参考文档cd /home/yehuo/Downloads git clone https://github.com/xsenssupport/Xsens_MTi_ROS_Driver_and_Ntrip_Client.git将下载下来的项目中的 ros 驱动复制到工作空间的 src 路径下sudo apt install ros-$ROS_DISTRO-nmea-msgs sudo apt install ros-$ROS_DISTRO-mavros-msgssudo chmod -R orw xsens_ros_mti_driver/ cd .. pushd src/xsens_ros_mti_driver/lib/xspublic make popd catkin_make测试雷达与 IMU 时间同步sudo ptp4l -m -i enp11s0 -S测试 robosense Helios 32速腾修改 config.yaml 配置文件与雷达网页上记录的配置参数相对应common: msg_source: 1 # 0: not use Lidar # 1: packet message comes from online Lidar # 2: packet message comes from ROS or ROS2 # 3: packet message comes from Pcap file send_packet_ros: false # true: Send packets through ROS or ROS2(Used to record packet) send_point_cloud_ros: true # true: Send point cloud through ROS or ROS2 lidar: - driver: lidar_type: RSHELIOS # RSM1 # LiDAR type - RS16, RS32, RSBP, RSAIRY, RSHELIOS, RSHELIOS_16P, RS128, RS80, RS48, RSP128, RSP80, RSP48, # RSM1, RSM1_JUMBO, RSM2, RSM3, RSE1, RSMX. msop_port: 6698 # 6699 # Msop port of lidar difop_port: 7789 # 7788 # Difop port of lidar imu_port: 0 # 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 min_distance: 0.2 # Minimum distance of point cloud max_distance: 200 # Maximum distance of point cloud use_lidar_clock: true # true--Use the lidar clock as the message timestamp # false-- Use the system clock as the timestamp dense_points: false # true: discard NAN points; false: reserve NAN points ts_first_point: true # true: time-stamp point cloud with the first point; false: with the last point; # these parameters are used from mechanical lidar start_angle: 0 # Start angle of point cloud end_angle: 360 # End angle of point cloud # When msg_source is 3, the following parameters will be used pcap_repeat: true # true: The pcap bag will repeat play pcap_rate: 1.0 # Rate to read the pcap file pcap_path: /home/robosense/lidar.pcap #The path of pcap file ros: ros_frame_id: rslidar #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_send_point_cloud_topic: /rslidar_points #Topic used to send point cloud through ROS ros_queue_length: 100 #Topic QoS history depth启动 launch 文件进行测试cd driver_ws source devel/setup.bash roslaunch rslidar_sdk start.launchTips速腾雷达可以选择点的类型参考链接速腾聚创雷达最新驱动安装包含ring和timestamp运行lio-sam保存好之后重新编译即可测试 xsense mti 300基于 MT软件套测试1.安装依赖安装 libdouble-conversion1wget http://archive.debian.org/debian/pool/main/d/double-conversion/libdouble-conversion1_3.1.0-3_amd64.deb sudo dpkg -i libdouble-conversion1_3.1.0-3_amd64.deb安装 libicu60wget http://mirrors.kernel.org/ubuntu/pool/main/i/icu/libicu60_60.2-3ubuntu3.2_amd64.deb sudo dpkg -i libicu60_60.2-3ubuntu3.2_amd64.deb2.MT软件套下载下载链接3.执行.sh文件将刚才下载的压缩文件手动解压并将一共有三个文件需要解压大文件解压后点进去还有两个文件需要解压解压完后将压缩包删了节省内存。sudo ./mtsdk_linux-x64_2025.2.sh若报错“uudecond”执行以下安装命令sudo apt-get update -y sudo apt-get install -y sharutils4.打开MT Manager界面打开到以下路径的文件/home/yehuo/Downloads/MT_Software_Suite_linux-x64_2025.2_b20250509.1_r1744806423/MT_Software_Suite_linux-x64_2025.2/mtmanager_linux-x64_2025.2/mtmanager/linux-x64/bin然后右键打开终端执行如下命令./mtmanager记住这步设置的波特率运行 launch 文件测试 IMU 节点数据lsusb看到Xscens ******