要将RoboSense Helios 32激光雷达集成到基于ROS Noetic的机器人系统中，您需要按照以下步骤进行操作：### 1. 硬件准备- 确保您的机器人系统已经安装了ROS Noetic。- 准备好RoboSense Helios 32激光雷达

博客地址：https://www.cnblogs.com/zylyehuo/ 雷达型号：robosense Helios 32（速腾） IMU 型号：xsense mti 300 使用环境： RO2 humble 首先将雷达以及 IMU 都连接到电脑上 配置 robosense Helios 32（速腾） 查看雷达 IP 地址 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 update sudo apt-get update sudo apt-get install -y libyaml-cpp-dev sudo apt-get install -y libpcap-dev cd 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-msgs sudo chmod -R o+rw 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.launch Tips：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-conversion1 wget 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 libicu60 wget 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.deb 2.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 sharutils 4.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 ****** ls -l /dev/tty # 双击 Tab 键 看到/dev/ttyUSB0 sudo chmod 777 /dev/ttyUSB0 groups sudo usermod -G dialout -a $USER newgrp dialout 单纯发布IMU的节点数据 cd driver_ws source devel/setup.bash roslaunch xsens_mti_driver xsens_mti_node.launch 在 rviz 中可视化 IMU 数据 roslaunch xsens_mti_driver display.launch