mkdir bluesea2   											//create a folder and customize it
cd bluesea2    												//into this folder
git clone https://github.com/BlueSeaLidar/bluesea2.git  src //download the driver package and rename it to src

catkin_make

source ./devel/setup.sh

sudo chmod 777 /dev/ttyUSB0 (uart)			//  /dev/ttyUSB0  refers to the serial port name. If it is a serial/virtual serial port model, it needs to be authorized

roslaunch bluesea2 [launch file]    		//The specific launch file description is as follows

#ROS# (mandatory parameter for the framework)
<param name="topic" value="scan" />#Publish topic
<param name="frame_id" value="map" />#Name of the flag coordinate system
 #DATA# (driver-defined data level limiting parameter)
<param name="min_dist" value="0.01" />#Minimum point cloud distance (m)
<param name="max_dist" value="50.0"/>#Maximum point cloud distance (m)
<param name="from_zero" value="false"/>#Whether start angle is from 0 (false is 180).
<param name="output_scan" value="true" />#2D scan data (default)
<param name="output_cloud" value="false"/>#3D spatial data.
<param name="output_360" value="true" />#Output by frame.
<param name="inverted" value="false"/>#Publish data angle parameter inverted(angle_min,angle_max,angle_increment).
<param name="reversed" value="false"/>#Publish data point cloud data reversed (row from last point to first point)
<param name="hard_resample" value="false"/>#hard_resample_factor(if lidar support this command)
<param name="soft_resample" value="false"/>#Soft resample coefficient (need point cloud larger than the minimum number of points for soft resample)
<param name="with_angle_filter" value="false"/>#Angle filter switch.
<param name="min_angle" value="-3.1415926"/>#Minimum available angle.
<param name="max_angle" value="3.1415926"/#Maximum available angle.
<rosparam param="mask1" >[-3.14,3.14]</rosparam>#mask data for angle in this interval
<param name="time_mode" value="0"/>#Timestamp source of packet (default 0 system time, 1 is lidar time synchronized time)
<! -- <rosparam param="mask2" >[-1,0]</rosparam-->#Multiple segments to mask the angle of the interval, mask upwards +1
#CUSTOM# (driver customization function)
<param name="error_circle" value="3"/># Judge the weight of the point with distance 0 Three consecutive circles.
<param name="error_scale" value="0.9"/># 90% of points with distance 0 in each circle will report error.
<param name="group_listener" value="false" />#Only used to listen to multicast data (need to change the upload address of lidar by host computer, and fix the upload, then this driver will listen to the data).
<param name="group_ip" value="224.0.0.11" />#Listen to multicast ip.
#FITTER# (lidar different angular resolution parameters are different, need to be customized)
<param name="filter_open" value="true"/>#Filter enable switch.
<param name="max_range" value="20"/#Maximum range for filtering.
<param name="min_range" value="0.5"/>#Minimum range for filtering.
<param name="max_range_difference" value="0.1"/>#Physical range to judge the divergence.
<param name="filter_window" value="1"/>#Range of subscripts for judging outliers
#CONNECT# (parameter that drives the connection lidar)
<param name="type" value="udp" />
<param name="lidar_port" value="6543" />
<param name="local_port" value="6668" />
<param name="lidar_ip" value="192.168.158.98" />
#GET# (the query command switch that the driver sends to the lidar)
<param name="uuid" value="-1" /> #Query lidar SN number, -1 no query, >=0 query
#SET# (set command switch that driver sends to lidar)
<param name="rpm" value="-1"/#Set lidar rpm (different models of lidar can support different rpm, specific check the manual of the model):-1 not set 600 900 ... Setting
<param name="sample_res" value="-1"/>#set angular resolution (different lidar models can support different angular resolution, check the manual of the model),-1 not set 0 original data 1 angular correction
<param name="with_smooth" value="-1" />#Set de-smooth point, -1 not set 0 off 1 on.
<param name="with_deshadow" value="-1" />#Set filtering, -1 not set 0 off 1 on
<param name="alarm_msg" value="-1" />#set alarm message, -1 not set 0 off 1 on
<param name="direction" value="-1"/>#Set direction of rotation(only used by lidar which support this command),-1 not set 0 off 1 on

rosrun bluesea2  bluesea2_client start  0  arg1 is (start/stop)  arg2 is lidar serial (Starting from 0, if it is a negative number, it means that all lidars are executed.)

rosrun bluesea2  bluesea2_client switchZone  0    192.168.158.98     arg1 is switchZone   arg2 is defense zones to be switched  arg3 is lidar ip

rosrun bluesea2  bluesea2_client rpm  0 600   arg1 is rpm   arg2 is lidar serial(start from zero)  arg3 is rpm to be set

rostopic list 

rosbag record /lidar1/scan 

rosbag play packet name