Robosense激光雷达在Apollo自动驾驶竞赛教学套件上的适配探究

激光雷达作为自动驾驶车的核心设备,实现其国产化应用,对于降低造车成本有重大意义。文章意在探究国产品牌Robosense推出的激光雷达RS-LiDAR-16在Apollo自动驾驶竞赛教学套件上的适配,通过IP地址的配置、激光雷达与组合导航系统的端口匹配和系统配置文件修改等,实现感知模块的正常启动,并通过场地试验,检验适配方案的可行性。

LiDAR, as the core equipment of self-driving vehicle, has realized its domestic application is of great significance to reduce the cost of car construction. The purpose of this paper is to explore the adaptation of LiDAR RSLiDAR-16 introduced by domestic brand Robosense in the teaching kit of Apollo self-driving competition. Through the configuration of IP address, the port matching of LiDAR and integrated navigation system and the modification of system configuration files, the normal startup of perception module is realized, and the feasibility of the adaptation scheme is verified by field test.