NSL-3130AA ROS2-USB

--- NSL-3130AA ROS2-USB demo ---

1. Build env

• Ubuntu22.04.1 LTS
• ROS2 Humble
• OPENCV 4.5.4

2. Define USB rules

$ sudo vi /etc/udev/rules.d/defined_lidar.rules
KERNEL=="ttyACM*", ATTRS{idVendor}=="1fc9", ATTRS{idProduct}=="0094", MODE:="0777",SYMLINK+="ttyLidar"

$ service udev reload
$ service udev restart

3. Build NSL-3130AA demo

$ cd NSL3130_driver
$ colcon build --packages-select roboscan_nsl3130
$ . install/setup.bash

4. Start commands

$ ros2 run roboscan_nsl3130 roboscan_publish_node
$ ros2 launch roboscan_nsl3130 camera.Launch.py

NSL-3130AA View

Phase wrapping Avoidance and Correction

Average FPS per Image type

Set parameters

$ rqt
 (reconfigure)

cvShow : Image Viewer on/off
channel : 0 ~ 15

hdr_mode 0 : HDR off
hdr_mode 1 : Spatial HDR
hdr_mode 2 : Temperal HDR

imageType 0 : Grayscale 
imageType 1 : Distance 
imageType 2 : Distance / Amplitude

int0 , int2, int3 = 0 ~ 2500(VCSEL), 0 ~ 4000(LED)

intGr = 0 ~ 2500(VCSEL), 0 ~ 4000(LED)

modIndex 0 : 24MHz
modIndex 1 : 12MHz
modIndex 2 : 6MHz
modIndex 3 : 3MHz


transformAngle : angle (rviz-based y-axis rotation)