- 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。