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

ゝ一世哀愁。 2022-11-25 04:13 430阅读 0赞

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：

<table> 
 <thead> 
  <tr> 
   <th>传感器</th> 
   <th>型号</th> 
   <th>官网</th> 
  </tr> 
 </thead> 
 <tbody> 
  <tr> 
   <td><strong>Basler相机</strong></td> 
   <td>GiE ace 1920-50gc</td> 
   <td><a href="https://www.baslerweb.com/cn/" rel="nofollow">https://www.baslerweb.com/cn/</a></td> 
  </tr> 
  <tr> 
   <td><strong>Mako相机</strong></td> 
   <td>G-192C</td> 
   <td><a href="https://www.alliedvision.com/cn/" rel="nofollow">https://www.alliedvision.com/cn/</a></td> 
  </tr> 
  <tr> 
   <td><strong>禾赛激光雷达</strong></td> 
   <td>pandar40P</td> 
   <td><a href="https://www.hesaitech.com/zh/" rel="nofollow">https://www.hesaitech.com/zh/</a></td> 
  </tr> 
  <tr> 
   <td><strong>Velodyne激光雷达</strong></td> 
   <td>VLP16</td> 
   <td><a href="https://velodynelidar.com/" rel="nofollow">https://velodynelidar.com/</a></td> 
  </tr> 
  <tr> 
   <td><strong>速腾激光雷达</strong></td> 
   <td>RS-Ruby</td> 
   <td><a href="http://www.robosense.cn/" rel="nofollow">http://www.robosense.cn/</a></td> 
  </tr> 
  <tr> 
   <td><strong>Delphi毫米波雷达</strong></td> 
   <td>Delphi</td> 
   <td><a href="https://www.delphi.com/" rel="nofollow">https://www.delphi.com/</a></td> 
  </tr> 
 </tbody> 
</table>

# Basler相机 #

1.  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][https_www.baslerweb.com_en_sales-support_downloads_software-downloads_type_pylonsoftware_language_all_version_all_os_linuxx8664bit_series_baslerace_model_all]  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70]下载并解压。
2.  解压之后会看到如下图的效果。用编辑器查看INSTALL  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 1]

> **To install the pylon 6 Camera Software Suite in /opt/pylon follow these steps:**

> (1) Change to the directory that contains thisINSTALL document.

![在这里插入图片描述][20200807143825459.png]

> (2) Extract the pylon SDK into /opt/pylon:  
> sudo tar -C /opt/pylon -xzf ./pylon\_\*.tar.gz

![在这里插入图片描述][20201002102724657.png_pic_center]

> (3) Change access rights of the pylon folder:  
> sudo chmod 755 /opt/pylon

![在这里插入图片描述][2020080714395184.png]3. install the udev-rules

> In order to use USB3 Vision cameras, you also need to install the udev-rules to set up permissions for Basler USB cameras by calling:  
> `sudo /opt/pylon/share/pylon/setup-usb.sh`  
> ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 2]

1.  然后就是下载ros代码

*  进入到工作空间的src目录下，输入命令`git clone git@github.com:philtell/pylon_ros.git`，进行安装。
 *  下载完成 输入`cd .. && catkin_make && source devel/setup.bash`  
    编译效果如下，说明编译成功。  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 3]  
    2020年10月2日 对该博客进行了更改，改用官方提供的ROS代码。之前写博客的时候官方提供的ROS代码不支持pylon6， 我就自己写了ROS代码来支持。现在官方提供了，那么就以官方为准。  
    4.1. 代码下载地址为：[https://github.com/basler/pylon-ros-camera.git][https_github.com_basler_pylon-ros-camera.git]  
    在`工作空间/src`下输入`git clone https://github.com/basler/pylon-ros-camera.git` ,不知道怎么创建工作空间请参考博客：[https://blog.csdn.net/CCCrunner/article/details/103656906][https_blog.csdn.net_CCCrunner_article_details_103656906]  
    4.2. 按照该`ReadMe`文档下的说明，再执行命令`git clone https://github.com/dragandbot/dragandbot_common.git` ，  
    4.3. 继续安装ROS的相关依赖，`sudo sh -c 'echo "yaml https://raw.githubusercontent.com/basler/pylon-ros-camera/master/pylon_camera/rosdep/pylon_sdk.yaml" > /etc/ros/rosdep/sources.list.d/30-pylon_camera.list' && rosdep update && sudo rosdep install --from-paths . --ignore-src --rosdistro=$ROS_DISTRO -y`  
    4.4. 编译工作空间， `cd ~/catkin_ws && catkin_make clean && catkin_make && source ~/.bashrc`  
    4.5.运行Launch文件，`roslaunch pylon_camera pylon_camera_node.launch`  
    4.6. 配置网口相机IP,`roslaunch pylon_camera pylon_camera_ip_configuration.launch`

经过测试，该代码不能运行再pylon6的驱动下， 推荐安装pylon5 就可以解决问题。或者安装pylon6的驱动，用上面我给出的github的地址来运行ros代码`git clone git@github.com:philtell/pylon_ros.git`

1.  进入到目录`/opt/pylon/`目录下，双击`pylonviewer` ,就能对相机相关参数进行配置。其中打开效果如下所示。  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 4]  
    点击`close`  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 5]  
    红色为网口相机，蓝色为usb相机。  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 6]
2.  如果没有显示相机，需要预先设置一下相机的IP, 与`pylon viewer`在同一级目录下

> For further information about how to use the pylon 6 Camera Software Suite and  
> how to configure cameras and the host system, please read the README document  
> that will be installed here:  
> `/opt/pylon/share/pylon/README`  
> [https://zh.docs.baslerweb.com/using-basler-gige-cameras-in-a-wireless-lan][https_zh.docs.baslerweb.com_using-basler-gige-cameras-in-a-wireless-lan]

# Mako相机 #

1.  下载并安装驱动，第三方Vimba: [https://www.alliedvision.com/en/products/software.html][https_www.alliedvision.com_en_products_software.html]  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 7]
2.  安装驱动。

> Installing VimbaVimba comes as a tarball.  
> To install it:  
> (1) Uncompress the archive to a directory you have writing privileges for, such as **/opt: tar -xzf ./Vimba.tgz -C /opt** In this directory, Vimba will be installed in its own folder. In this document, we refer to this path as \[InstallDir\].

![在这里插入图片描述][20200808161118404.png]

> (2) GigE camera users: Go to \[InstallDir\]/Vimba\_x\_x/VimbaGigETL.USB camera users: Go to \[InstallDir\]/Vimba\_x\_x/VimbaUSBTL.

![在这里插入图片描述][20200808161406862.png]

> (3) Execute the shell script Install.sh with root privileges (for example, sudo ./Install.sh or su -c.Install.sh).

![在这里插入图片描述][20200808161502910.png]

> (4) If you use GigE and USB cameras, perform this step for both TLs (transport layers).

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 8]  
3. 输入命令`sudo -E /opt/Vimba_4_0/Tools/Viewer/Bin/x86_64bit/VimbaViewer`，如果能打开下图画面，说明安装驱动成功。  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 9]  
4. 下载ros代码，在`src`下载代码，输入命令`git clone git@github.com:philtell/mako_camera.git`  
5. 然后进行编译  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 10]

# 禾赛激光雷达 #

1.  首先下载禾赛ROS代码到`src`目录下，命令为`git clone git@github.com:hesaiwuxiaozhou/Pandar40p_ros.git`
2.  下载完成，请参考`README.MD` 进行操作。

# Velodyne激光雷达 #

1.  首先在下Velodyne代码到`src`文件下，下载命令为`git clone git@github.com:ros-drivers/velodyne.git`
2.  然后参考[https://wiki.ros.org/velodyne][https_wiki.ros.org_velodyne] 进行安装

# 速腾激光雷达 #

1.  首先下载ros代码到`src`文件夹下，命令为`git clone git@github.com:RoboSense-LiDAR/rslidar_sdk.git`
2.  然后参考`README进行安装`。

# Delphi 毫米波雷达 #

未完待更新。

# 安装注意事项 #

1.  在安装的过程中会遇到各种问题，大致分为两类，一类是硬件问题，一类是软件问题。
2.  其中硬件问题是传感器可能是没有插电，不稳固，等原因，要排除硬件问题，需要借助一个软件叫`wireshark`。如果传感器能够跟主机进行通信，在wireshark就能看到该传感器的IP， 同时该传感器的IP必须跟主机是在同一个网段下且不重复才能进行安装。如果是激光雷达，同时还可以用手机打开摄像功能对准激光雷达，如果有闪光跳动的红点，说明该激光雷达已经通信，如果是相机，可以打开相应的Viewer来进行查看是否有图像。
3.  软件问题就是驱动没装好，ros代码问题，ros版本问题等等，需要具体情况具体分析。

[https_www.baslerweb.com_en_sales-support_downloads_software-downloads_type_pylonsoftware_language_all_version_all_os_linuxx8664bit_series_baslerace_model_all]: https://www.baslerweb.com/en/sales-support/downloads/software-downloads/#type=pylonsoftware;language=all;version=all;os=linuxx8664bit;series=baslerace;model=all
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70]: /images/20221124/504ca47e28674859bc5a1baa5c9ba48f.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 1]: /images/20221124/25319659fdca47bea4a3baddd76d9c8b.png
[20200807143825459.png]: /images/20221124/0dd2b8712c9445ceabf6012c89a59ab2.png
[20201002102724657.png_pic_center]: /images/20221124/08cdfb53810a4dd5a4e61d5ae53b1212.png
[2020080714395184.png]: /images/20221124/317d56d15b8a45069bf4398f35a0dd85.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 2]: /images/20221124/c518496447de4b46b4dc0cb5826c4b4d.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 3]: /images/20221124/2b899329bf3245b6a70c29ccb4513f85.png
[https_github.com_basler_pylon-ros-camera.git]: https://github.com/basler/pylon-ros-camera.git
[https_blog.csdn.net_CCCrunner_article_details_103656906]: https://blog.csdn.net/CCCrunner/article/details/103656906
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 4]: /images/20221124/10624dac927f4490b43c90c52ca6784c.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 5]: /images/20221124/346821248e2b4df78eea96ce80845de2.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 6]: /images/20221124/d61705c97820499494b4bbcb5ad22205.png
[https_zh.docs.baslerweb.com_using-basler-gige-cameras-in-a-wireless-lan]: https://zh.docs.baslerweb.com/using-basler-gige-cameras-in-a-wireless-lan
[https_www.alliedvision.com_en_products_software.html]: https://www.alliedvision.com/en/products/software.html
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 7]: /images/20221124/0cd4649eff8a41e68b1ab32a2c23b2d2.png
[20200808161118404.png]: /images/20221124/d9f8581278504826a3036058f5db4ade.png
[20200808161406862.png]: /images/20221124/fc0b10ac0b774297a5fc14858ce08227.png
[20200808161502910.png]: /images/20221124/962b82ad600b4ee68b1d801cbfaebc42.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 8]: /images/20221124/d89c2883966343d68a62e9327e895b09.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 9]: /images/20221124/64e366bf88164246888c64a32230de4f.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0NDQ3J1bm5lcg_size_16_color_FFFFFF_t_70 10]: /images/20221124/a38f527406a146678a498c8f33bdfe4a.png
[https_wiki.ros.org_velodyne]: https://wiki.ros.org/velodyne