How to configure and use the new single line lidar

The original intention of this article ： For a little white , Get a new lidar , There is even no way to start , I don't know how to configure it ？ This paper takes Ruichi single line lidar as an example , Explain how to work in ubuntu Configure and use in the environment .

• 1 so
• 2 Power port

1、 Laser radar IP

Read the lidar user manual , Find the lidar IP, In general, the manual will give , If you don't give them or can't find them, you can ask them for their skills .
for example ：

192.168.198.2

2、 Configure native IP

One end of the network cable is connected to the laptop host , One end is connected to the laser radar network port . Then manually configure the Ethernet port of the notebook IP（ The same LAN as the radar ）

192.168.198.1
255.255.255.0

3、 download ROS Drive pack

Go to the official website to download

4、 compile ROS

1、 newly build catkin workspace
2、catkin_make, It's going to be generated on success build and devel Two documents
3、Source /devel/setup.bash
4、roscore
5、roslaunch View point cloud in real time
6、 View point cloud :rosrun rviz rviz