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LP-01 SDK

Prepare

git clone https://github.com/tsari-lidar-perception/lidarplus-sdk --recurse-submodules

Requirement

  • libboost_thread
  • libboost_system
  • proto 3.11+
  • ZLG usbcan-4e (optional)

Build

(Turn on BUILD_ZLGCAN in CMakeLists.txt, if you wants to build ZLGCAN receive sample)

mkdir build && cd build
cmake ..
make -j

RUN

1.Receive Object Detection

cpp samples

build/sample/udp_recv_sample/cpp/recv_detection_udp
build/sample/can_recv_sample/recv_detection_zlgcan

python samples

python3 sample/udp_recv_sample/python/recv_detection.py

2.Receive Localization

cpp samples

build/sample/udp_recv_sample/cpp/recv_localization_udp

ROS Sample

cd sample/ros
catkin_make
source devel/setup.bash
roslaunch rosbag_proxy rosbag_proxy.launch
rosbag play xxx.bag