基于ROS的Mako相机，Basler相机，禾赛激光雷达，Velodyne激光雷达，速腾激光雷达，Delphi毫米波雷达安装驱动，运行与调试教程
把大象放冰箱分为几步？三部，那么我们对传感器进行安装调试分为几步？答案也是三步。
第一步，安装驱动
第二步，运行ROS代码
第三步，调试效果
用到的传感器型号与官网如下：
| 传感器 | 型号 | 官网 |
|---|---|---|
| Basler相机 | GiE ace 1920-50gc | https://www.baslerweb.com/cn/ |
| Mako相机 | G-192C | https://www.alliedvision.com/cn/ |
| 禾赛激光雷达 | pandar40P | https://www.hesaitech.com/zh/ |
| Velodyne激光雷达 | VLP16 | https://velodynelidar.com/ |
| 速腾激光雷达 | RS-Ruby | http://www.robosense.cn/ |
| Delphi毫米波雷达 | Delphi | https://www.delphi.com/ |
Basler相机
-
下载pylon套装。下载地址：https://www.baslerweb.com/en/sales-support/downloads/software-downloads/#type=pylonsoftware;language=all;version=all;os=linuxx8664bit;series=baslerace;model=all
下载并解压。
-
解压之后会看到如下图的效果。用编辑器查看INSTALL
To install the pylon 6 Camera Software Suite in /opt/pylon follow these steps:
- Change to the directory that contains this INSTALL document.
- Extract the pylon SDK into /opt/pylon:
sudo tar -C /opt/pylon -xzf ./pylon_*.tar.gz
- Change access rights of the pylon folder:
sudo chmod 755 /opt/pylon
- 对
pylon_6.1.3.20159_aarch64.tar.gz解压到当前目录下。解压效果如下所示。
在这里插入图片描述
Mako相机
- 下载并安装驱动，第三方Vimbahttps://www.alliedvision.com/en/products/software.html
Installing VimbaVimba comes as a tarball.
To install it:
- Uncompress the archive to a directory you have writing privileges for, such as /opt: tar -xzf ./Vimba.tgz -C /optIn this directory, Vimba will be installed in its own folder. In this document, we refer to this path as [InstallDir].
- GigE camera users: Go to [InstallDir]/Vimba_x_x/VimbaGigETL.USB camera users: Go to [InstallDir]/Vimba_x_x/VimbaUSBTL.
- Execute the shell script Install.sh with root privileges (for example, sudo ./Install.sh or su -c.Install.sh). If you use GigE and USB cameras, perform this step for both TLs (transport layers).