What has been modified?

the official driver https://github.com/RoboSense-LiDAR/ros_rslidar

first stage

only modify the code

keep the structure

• /rslidar_pointcloud/src/rawdata.cc 215 --- 221:

stop subscribing to raw_difop_packet

stop publishing of rslidar_device_info

• /rslidar_driver/src/rsdriver.cpp 25---27:

stop publishing of tf

• /rslidar_driver/src/rsdriver.cpp 121-124:

stop publishing of raw_difop_packet

• /rslidar_driver/src/rsdriver.cpp 95-99

stop publishing of ros dynamic parameter

• /rslidar_pointcloud/src/convert.cc 34-37

stop publishing of ros dynamic pararmeters

keep the topic /diagnostic (in rsdriver.cpp 102, 128-130, 205-207)

second stage

remove /rslidar/point_cloud

modify rslidar/src/CMakeLists.txt and CMakeLists.txt

add rawdata.h to rsdriver.h , so we can get the pointcloud directly

keep the "dynamic recofigure" and "diagnostics" part by comments in rsdriver.h and rsdriver.cpp

• dynamic configure

rsdriver.h : 50-54

rsdriver.cpp : 91-95, 233-237

• diagnostics

  rsdriver.h : 70-75

  rsdriver.cpp : 97-101, 109-116, 226-228

RUN

./build.sh
source devel_isolated/setup.bash
roslaunch rslidar_driver raccoon_rslidar.launch