Because the lidar used in the vehicle is lslidar-c 16, and Autoware supports WILDEN by default, it is necessary to modify the source configuration of lslidar-c 16 to complete the adaptation of Autoware.

First of all, you need to connect lslidar-c 16 to the power supply and connect it to the host through the network port. For details about configuring ros environment in Ubuntu, please refer to another note I wrote before: driver installation of lslidar-c 16 and rviz point cloud display under ROS.

Go to the launch folder under lslidar_c 16_decoder in src in the directory of lslidar-c 16, modify the lslidar_c 16.launch file in it, and change the original frame_id value "laser_link" to Powerden which can be used in autoware.

Open rviz in the lower right corner, and load the newly modified startup file of lslidar_c 16./home/Clark/workspace/catchul _ ws _ lslidar/src/lslidar _ c16/lslidar _ c16 _ decoder/launch.

You can see that the fixed box in the global options in the upper left corner is set to Wilton by default, and the scanning data of lidar lslidar-c 16 is displayed on the right.