airy雷达坐标系robosense的驱动安装ros1和ros2驱动安装不同需要安装的依赖sudo apt update sudo apt install -y libpcap-dev libyaml-cpp-devros2 Humble安装# 依赖 sudo apt update sudo apt install -y libpcap-dev libyaml-cpp-dev # 建工作区 mkdir -p ~/rslidar_ws/src cd ~/rslidar_ws/src # 拉取驱动与自定义消息 git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git git clone https://github.com/RoboSense-LiDAR/rslidar_msg.git # 编译 cd ~/rslidar_ws colcon build --cmake-args -DCMAKE_BUILD_TYPERelease source install/setup.bashros只需要下载sdk不需要msg。ros1 noetic安装mkdir rslidar_ws cd rslidar_ws mkdir src cd src git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git cd .. catkin_make驱动安装完成必须需要配置确认端口号airy的初始ip为192.168.1.200连接网线到控制器浏览器输入ip将会出现配置界面ros驱动中需要更改的内容config.yaml需要更改CMakeLists.txt需要更改获取imu数据