Repository Summary
| Checkout URI | https://github.com/Livox-SDK/livox_ros_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-05-09 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
Packages
| Name | Version |
|---|---|
| livox_ros_driver | 1.1.0 |
README
Livox ROS Driver
livox_ros_driver is a new ros package, which is designed to gradually become the standard driver package for livox devices in the ros environment.
Compile & Install Livox SDK
livox_ros_driver depends on Livox-SDK lib. If you have never installed Livox-SDK lib or it is out of date, you must first install Livox-SDK lib. If you have installed the latest version of Livox-SDK, skip this step and go to the next step.
- Download or clone the Livox-SDK/Livox-SDK repository on GitHub.
- Compile and install the Livox-SDK under the build directory following
README.mdof Livox-SDK/Livox-SDK.
Clone livox_ros_driver
- Clone livox_ros_driver package for github:
git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src
- Build livox_ros_driver package:
cd ws_livox
catkin_make
-
Package environment setup:
source ./devel/setup.sh
Run livox ros driver
The driver offers users a wealth of options when using different launch file. There is bd_list arg in each launch file. All Livox LiDAR units in your LAN will be connected automatically in default.
e.g.
roslaunch livox_ros_driver livox_lidar_rviz.launch
If you want to connect to the specific LiDAR uint(s) only, please add the broadcast code into command line.
e.g.
roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
Features of .launch files are listed as below:
| launch file | features |
|---|---|
| livox_lidar_rviz.launch | Connect to Livox LiDAR units Publish pointcloud2 format point cloud Automatically load rviz |
| livox_hub_rviz.launch | Connect to Livox Hub units Publish pointcloud2 format point cloud Automatically load rviz |
| livox_lidar.launch | Connect to Livox LiDAR units Publish pointcloud2 format point cloud |
| livox_hub.launch | Connect to Livox Hub units Publish pointcloud2 format point cloud |
| livox_lidar_msg.launch | Connect to Livox LiDAR units Publish livox custom format point cloud |
| livox_hub_msg.launch | Connect to Livox Hub units Publish livox custom format point cloud |
Livox custom msg format：
Header header # ROS standard message header
uint64 timebase # The time of first point
uint32 point_num # Total number of pointclouds
uint8 lidar_id # Lidar device id number
uint8[3] rsvd # Reserved use
CustomPoint[] points # Pointcloud data
pointcloud format:
uint32 offset_time # offset time relative to the base time
float32 x # X axis, unit:m
float32 y # Y axis, unit:m
float32 z # Z axis, unit:m
uint8 reflectivity # reflectivity, 0~255
uint8 line # laser number in lidar