Two Lslidar(Leishen) connected with One Embedded Board(Jetson Xavier)`s possible?

Question

Running one of the Lslidar(16 Channels) on the Embeded board(ROS development environments) is not a problem. This is because you can use the default IP and ports. But I plan to run two at the same time, and I want to use values other than the default values of ports and IP..

For example, you can use ports like 2368 and 2369. I need a reference to refer to how to change the port value and IP value... Help Plz...

score 0 · Accepted Answer · edited May 13 '20 at 12:59

Here is code from lsLidar driver from ROS Wiki:

bool LslidarC16Driver::loadParameters() {
  //pnh.param("frame_id", frame_id, std::string("lslidar"));
  pnh.param("lidar_ip", lidar_ip_string, std::string("192.168.1.222"));
  pnh.param<int>("device_port", UDP_PORT_NUMBER,2368);
  pnh.param<bool>("add_multicast", add_multicast, false);
  pnh.param("group_ip", group_ip_string, std::string("234.2.3.2"));
  inet_aton(lidar_ip_string.c_str(), &lidar_ip);
  ROS_INFO_STREAM("Opening UDP socket: address " << lidar_ip_string);
  if(add_multicast) ROS_INFO_STREAM("Opening UDP socket: group_address " << group_ip_string);
  ROS_INFO_STREAM("Opening UDP socket: port " << UDP_PORT_NUMBER);
  return true;
}

As you can see there is a place where you can change port and IP. For two devices I'd advise you to modify the original driver. All source code is available on https://github.com/tongsky723/lslidar_C16 Clone it to you workspace and create additional functionality for two LiDARs.

Glad to hear that, it would be great if you share solution with others or if my answer was a solution you can mark it so. — Victoria Kepler, May 20 '20 at 12:03

Two Lslidar(Leishen) connected with One Embedded Board(Jetson Xavier)`s possible?

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