feature:add livox_ros_driver package

README.md

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+# livox ros driver
+
+### Run livox ros driver
+
+livox_ros_driver is a new ros package under the Livox-SDK/Livox-SDK-ROS/src directory, which is designed to gradually become the standard driver package for livox devices in the ros environment. The driver offers users a wealth of options:
+
+1. Publish pointcloud2 format point cloud and automatically load rviz；
+
+for example：
+
+```
+roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
+```
+
+or
+
+```
+roslaunch livox_ros_driver livox_hub_rviz.launch bd_list:="hub_broadcast_code" 
+```
+
+2. Publish pointcloud2 format point cloud only；
+
+for example：
+
+```
+roslaunch livox_ros_driver livox_lidar.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
+```
+
+or
+
+```
+roslaunch livox_ros_driver livox_hub.launch bd_list:="hub_broadcast_code"
+```
+
+
+
+3. Publish livox custom format point cloud；
+
+for example：
+
+```
+roslaunch livox_ros_driver livox_lidar_msg.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
+```
+
+or
+
+```
+roslaunch livox_ros_driver livox_hub_msg.launch bd_list:="hub_broadcast_code"
+```
+
+livox custom msg format：
+
+```
+Header header             # ROS standard message header
+uint64 timebase           # The time of first point
+uint32 timestep           # Time interval between adjacent point clouds
+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:
+```
+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
+```