feat:add rs-bpearl support

What happened. Close #10, #11, #12 (BREAKING CHANGE: isolate scope bindings definition has changed.) Signed-off-by: Tony Zhang <hitxfd.tony@gmail.com>
RoboSense-LiDAR · Sep 11, 2019 · aa2cee7 · aa2cee7 · Abhilash-aid · Dec 2, 2019
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commit aa2cee7
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diff --git a/changelog_cn.md b/changelog_cn.md
@@ -37,3 +37,12 @@
 * 10.规范化代码。
 * 11.增加根据水平角度分帧的功能。
 
+### V4.1.0(2019-09-11)
+---
+* 1.修复不同回波模式下packet_rate参数计算错误问题。
+* 2.新增从RS32线的difop包中读取角度标定值。
+* 3.更改打印信息输出内容，便于识别打印信息来源。
+* 4.更改三角函数计算到查表方式，优化代码执行效率。
+* 5.更改不同雷达镜头到转体中心的坐标换。
+* 6.修改默认分帧方式到角度分帧，且修改包数分帧的报数对应18K点频设备。
+* 7.新增RSBPEARL配置。
diff --git a/changelog_en.md b/changelog_en.md
@@ -37,4 +37,13 @@ first release for mutil node version
 * 10.Normalize the code
 * 11.Add the horizontal angle framing code
 
+### V4.1.0(2019-09-11)
+---
+* 1.Fix bug: fix the packet_rate calculation bug for different return mode.
+* 2.Add the function for reading the calibrated angle from difop of RS32.
+* 3.Update the log format to make it more clear to know the source of the information.
+* 4.Change the trigonometric function calculation to look-up table, this can improve the code performance efficiency.
+* 5.Change the coordinate transformation compensation for different lidars.
+* 6.Change the scan split way to angle by default. Change the packet_rate value corresponding to 18K sampling rate.
+* 7.Add RSBPEARL configuration support.
 
diff --git a/rslidar_driver/src/rsdriver.cpp b/rslidar_driver/src/rsdriver.cpp
@@ -17,7 +17,7 @@
 
 namespace rslidar_driver
 {
-  static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 20000;
+  static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 18000;
   static const unsigned int BLOCKS_ONE_CHANNEL_PER_PKT = 12;
 
 rslidarDriver::rslidarDriver(ros::NodeHandle node, ros::NodeHandle private_nh)
@@ -52,6 +52,11 @@ rslidarDriver::rslidarDriver(ros::NodeHandle node, ros::NodeHandle private_nh)
     packet_rate = 1500;
     model_full_name = "RS-LiDAR-32";
   }
+  else if (config_.model == "RSBPEARL")
+  {
+    packet_rate = 1500;
+    model_full_name = "RSBPEARL";
+  }
   else
   {
     ROS_ERROR_STREAM("[driver] unknown LIDAR model: " << config_.model);
@@ -209,7 +214,7 @@ bool rslidarDriver::poll(void)
       {
         packets_rate = ceil(packets_rate/2);
       }
-      else if (config_.model == "RS32" && (mode == 0))
+      else if ((config_.model == "RS32" || config_.model == "RSBPEARL") && (mode == 0))
       {
         packets_rate = packets_rate*2;
       }

diff --git a/rslidar_pointcloud/data/rs_bpearl/ChannelNum.csv b/rslidar_pointcloud/data/rs_bpearl/ChannelNum.csv
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diff --git a/rslidar_pointcloud/data/rs_bpearl/angle.csv b/rslidar_pointcloud/data/rs_bpearl/angle.csv
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diff --git a/rslidar_pointcloud/data/rs_lidar_32/ChannelNum.csv b/rslidar_pointcloud/data/rs_lidar_32/ChannelNum.csv
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diff --git a/rslidar_pointcloud/data/rs_lidar_32/ChannelNumDistance.csv b/rslidar_pointcloud/data/rs_lidar_32/ChannelNumDistance.csv
diff --git a/rslidar_pointcloud/data/rs_lidar_32/CurveRate.csv b/rslidar_pointcloud/data/rs_lidar_32/CurveRate.csv
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diff --git a/rslidar_pointcloud/data/rs_lidar_32/HorizAngle.csv b/rslidar_pointcloud/data/rs_lidar_32/HorizAngle.csv
diff --git a/rslidar_pointcloud/data/rs_lidar_32/limit.csv b/rslidar_pointcloud/data/rs_lidar_32/limit.csv
diff --git a/rslidar_pointcloud/launch/rs_bpearl.launch b/rslidar_pointcloud/launch/rs_bpearl.launch
@@ -0,0 +1,30 @@
+<launch>
+  <arg name="model" default="RSBPEARL" />
+  <arg name="device_ip" default="192.168.1.200" />
+  <arg name="msop_port" default="6699" />
+  <arg name="difop_port" default="7788" />
+  <arg name="cut_angle" default="0" doc="If set at [0, 360), cut at specific angle feature activated, otherwise use the fixed packets number mode."/>
+  <arg name="lidar_param_path" default="$(find rslidar_pointcloud)/data/rs_bpearl/"/>
+
+  <node  name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >
+    <param name="model" value="$(arg model)"/>
+    <param name="device_ip" value="$(arg device_ip)" />
+    <param name="msop_port" value="$(arg msop_port)" />
+    <param name="difop_port" value="$(arg difop_port)"/>
+    <param name="cut_angle" value="$(arg cut_angle)"/>
+    <!--param name="pcap" value="path_to_pcap"/-->
+  </node>
+
+  <node  name="cloud_node" pkg="rslidar_pointcloud" type="cloud_node" output="screen" >
+    <param name="model" value="$(arg model)"/>
+    <param name="angle_path" value="$(arg lidar_param_path)/angle.csv" />
+    <param name="channel_path" value="$(arg lidar_param_path)/ChannelNum.csv" />
+    <param name="max_distance" value="150"/>
+    <param name="min_distance" value="0.1"/>
+    <param name="resolution_type" value="0.5cm"/>
+    <param name="intensity_mode" value="3"/>
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz"  args="-d $(find rslidar_pointcloud)/rviz_cfg/rslidar.rviz" />
+
+</launch>
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+Diff line change
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