how_to_use_multi_cast_function.md

How to use multi-cast function

1 Introduction

This document will show you how to use rs_driver to receive point cloud from the LiDAR working in multi-cast mode.

2 Steps (Linux)

Suppose the multi-cast address of LiDAR is 224.1.1.1.

2.1 Set up parameters

Set up the parameter multi_cast_address. Here is an example for offline decoding pcap bag.

RSDriverParam param;                                             ///< Create a parameter object
param.input_param.read_pcap = true;                              ///< Set read_pcap to true
param.input_param.pcap_path = "/home/robosense/rs16.pcap";  ///< Set the pcap file directory
param.input_param.msop_port = 6699;             ///< Set the lidar msop port number, the default is 6699
param.input_param.difop_port = 7788;            ///< Set the lidar difop port number, the default is 7788
param.lidar_type = LidarType::RS16;             ///< Set the lidar type. Make sure this type is correct 
param.input_param.multi_cast_address = "224.1.1.1"; ///< Set the multi-cast address.

2.2 Set up the PC ip address

In multi-cast case, the ip address of PC has no limit but user need to make sure the PC and LiDAR are in the same net work, which means PC can ping to LiDAR.

2.3 Add the PC to the group

Use the following command to check the PC's ethernet card name:

ifconfig

Then execute the following command to add the PC to the group (replace the enp2s0 with your ethernet card name):

sudo route add -net 224.0.0.0/4 dev enp2s0

2.4 Run

Run the program.