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Ouster-Driver-for-Apollo6.0 (support ARM and X86)

  1. 基于apollo6.0 的ouster lidar 驱动使用参考如下:

1,解压附件后将ouster目录拷贝到apollo的“modules/drivers/lidar”目录下;

2,修改”ouster/conf/ouster128.pb.txt“中的配置,“udp_dest_host”是工控机的IP,”hostname“为Lidar的IP。

3, add ouster lidar to apollo/modules/drivers/lidar/BUILD:19 : add "//modules/drivers/lidar/ouster:install", to this BUILD file

  	....
15	  deps = [
16	"//modules/drivers/lidar/hesai:install",
17	"//modules/drivers/lidar/robosense:install",
18	"//modules/drivers/lidar/velodyne:install",
19	"//modules/drivers/lidar/ouster:install",
	]
....

4,"apollo.sh build_opt_cpu drivers/lidar"编译成功后启动“cyber_launch start modules/drivers/lidar/ouster/launch/ouster128.launch”,然后通过cyber中查看相关的输出信息。

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