diff --git a/README.md b/README.md index 15c2935..612a2ea 100644 --- a/README.md +++ b/README.md @@ -59,7 +59,7 @@ For ROS installation, please refer to the ROS installation guide :     ***Note:*** -    (1) the json configuration file is in the "ws_livox/src/livox_ros_driver / config" directory; +    (1) the json configuration file is in the "ws_livox/src/livox_ros_driver/config" directory;     (2) When the connection status of the devices specified in the configuration file is all configured to prohibit connection (false), livox_ros_driver will automatically connect all the devices that are scanned; @@ -77,13 +77,13 @@ For ROS installation, please refer to the ROS installation guide :     ***Note:*** -    X in the figure above corresponds to 1 in MID-100_Left / MID-40 / Horizon / Tele products, 2 in MID-100_Middle, and 3 in MID-100_Right. +    X in the figure above corresponds to 1 in MID-100_Left/MID-40/Horizon/Tele products, 2 in MID-100_Middle, and 3 in MID-100_Right. ## 4. Launch file and livox_ros_driver internal parameter configuration instructions ### 4.1 Launch file configuration instructions -All launch files of livox_ros_driver are in the "ws_livox / src / livox_ros_driver / launch" directory. Different launch files have different configuration parameter values and are used in different scenarios : +All launch files of livox_ros_driver are in the "ws_livox/src/livox_ros_driver/launch" directory. Different launch files have different configuration parameter values and are used in different scenarios : | launch file name | Description | | ------------------------- | ------------------------------------------------------------ | @@ -226,7 +226,7 @@ In the "ws_livox/src/livox_ros_driver/launch" path, there are two json files, li ### 6.1 Hardware requirements -Prepare a GPS device to ensure that the GPS can output UTC time information in GPRMC / GNRMC format through the serial port or USB virtual serial port, and support PPS signal output; then connect the GPS serial port to the host running livox_ros_driver, and connect the GPS PPS signal line to LiDAR. For detailed connection instructions and more introduction to time stamp synchronization, please refer to the following links: +Prepare a GPS device to ensure that the GPS can output UTC time information in GPRMC/GNRMC format through the serial port or USB virtual serial port, and support PPS signal output; then connect the GPS serial port to the host running livox_ros_driver, and connect the GPS PPS signal line to LiDAR. For detailed connection instructions and more introduction to time stamp synchronization, please refer to the following links: [Timestamp synchronization](https://github.com/Livox-SDK/Livox-SDK/wiki/Timestamp-Synchronization) @@ -234,9 +234,9 @@ Prepare a GPS device to ensure that the GPS can output UTC time information in G     (1) The time stamp synchronization function of livox_ros_driver is based on the LidarSetUtcSyncTime interface of Livox-SDK, and only supports GPS synchronization, which is one of many synchronization methods of livox devices. -    (2) Be sure to set the output frequency of GPRMC / GNRMC time information of GPS to 1Hz, other frequencies are not recommended. +    (2) Be sure to set the output frequency of GPRMC/GNRMC time information of GPS to 1Hz, other frequencies are not recommended. -    (3) Examples of GPRMC / GNRMC format strings are as follows : +    (3) Examples of GPRMC/GNRMC format strings are as follows : ```bash $GNRMC,143909.00,A,5107.0020216,N,11402.3294835,W,0.036,348.3,210307,0.0,E,A*31 @@ -255,7 +255,7 @@ livox_ros_driver only supports the timestamp synchronization function when conne | Parameter | Type | Description | Default | | ---------------- | -------- | ------------------------------------------------------------ | -------------- | | enable_timesync | Boolean | Whether to enable the timestamp synchronization
true -- Enable timestamp synchronization
false -- Disable timestamp synchronization | false | -| device_name | String | Name of the serial device to be connected, take "/ dev / ttyUSB0" as an example, indicating that the device sending timestamp information to livox_ros_driver is ttyUSB0 | "/dev/ttyUSB0" | +| device_name | String | Name of the serial device to be connected, take "/dev/ttyUSB0" as an example, indicating that the device sending timestamp information to livox_ros_driver is ttyUSB0 | "/dev/ttyUSB0" | | comm_device_type | Int | Type of device sending timestamp information
0 -- Serial port or USB virtual serial port device
other -- not support | 0 | | baudrate_index | Int | Baud rate of serial device
0 -- 2400
1 -- 4800
2 -- 9600
3 -- 19200
4 -- 38400
5 -- 57600
6 -- 115200
7 -- 230400
8 -- 460800
9 -- 500000
10 -- 576000
11 -- 921600 | 2 | | parity_index | Int | parity type
0 -- 8bits data without parity
1 -- 7bits data 1bit even parity
2 -- 7bits data 1bit odd parity
3 -- 7bits data 1bit 0, without parity | 0 |