feat:add lidar bag or imu bag parameter

1. fix corner case bug when covert lvx file to rosbag;
2. add lidar bag and imu bag parameter for the convertion of lvx file to rosbag;

livox_ros_driver/launch/livox_hub.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_hub_msg.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_hub_rviz.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -20,7 +22,9 @@
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
-    <param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_lidar.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_lidar_msg.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_lidar_rviz.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>	
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 	
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_template.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/lvx_to_rosbag.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="false"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 	
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/lvx_to_rosbag_rviz.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="true"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/livox_ros_driver/lddc.cpp

@@ -43,13 +43,15 @@ namespace livox_ros {
 
 /** Lidar Data Distribute Control--------------------------------------------*/
 Lddc::Lddc(int format, int multi_topic, int data_src, int output_type,
-           double frq, std::string &frame_id)
+    double frq, std::string &frame_id, bool lidar_bag, bool imu_bag)
     : transfer_format_(format),
       use_multi_topic_(multi_topic),
       data_src_(data_src),
       output_type_(output_type),
       publish_frq_(frq),
-      frame_id_(frame_id) {
+      frame_id_(frame_id),
+      enable_lidar_bag_(lidar_bag),
+      enable_imu_bag_(imu_bag) {
   publish_period_ns_ = kNsPerSecond / publish_frq_;
   lds_ = nullptr;
   memset(private_pub_, 0, sizeof(private_pub_));
@@ -239,9 +241,9 @@ uint32_t Lddc::PublishPointcloud2(LidarDataQueue *queue, uint32_t packet_num,
   if (kOutputToRos == output_type_) {
     p_publisher->publish(cloud);
   } else {
-    if (bag_) {
+    if (bag_ && enable_lidar_bag_) {
       bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
-                  cloud);
+          cloud);
     }
   }
   if (!lidar->data_is_pubulished) {
@@ -340,9 +342,9 @@ uint32_t Lddc::PublishPointcloudData(LidarDataQueue *queue, uint32_t packet_num,
   if (kOutputToRos == output_type_) {
     p_publisher->publish(cloud);
   } else {
-    if (bag_) {
+    if (bag_ && enable_lidar_bag_) {
       bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
-                  cloud);
+          cloud);
     }
   }
   if (!lidar->data_is_pubulished) {
@@ -464,7 +466,7 @@ uint32_t Lddc::PublishCustomPointcloud(LidarDataQueue *queue,
   if (kOutputToRos == output_type_) {
     p_publisher->publish(livox_msg);
   } else {
-    if (bag_) {
+    if (bag_ && enable_lidar_bag_) {
       bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
           livox_msg);
     }
@@ -513,9 +515,9 @@ uint32_t Lddc::PublishImuData(LidarDataQueue *queue, uint32_t packet_num,
   if (kOutputToRos == output_type_) {
     p_publisher->publish(imu_data);
   } else {
-    if (bag_) {
+    if (bag_ && enable_imu_bag_) {
       bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
-                  imu_data);
+          imu_data);
     }
   }
   return published_packet;
@@ -592,9 +594,10 @@ ros::Publisher *Lddc::GetCurrentPublisher(uint8_t handle) {
 
   if (use_multi_topic_) {
     pub = &private_pub_[handle];
+    queue_size = queue_size / 8; // queue size is 4 for only one lidar
   } else {
     pub = &global_pub_;
-    queue_size = queue_size * 8;
+    queue_size = queue_size * 8; // shared queue size is 256, for all lidars
   }
 
   if (*pub == nullptr) {
@@ -640,9 +643,10 @@ ros::Publisher *Lddc::GetCurrentImuPublisher(uint8_t handle) {
 
   if (use_multi_topic_) {
     pub = &private_imu_pub_[handle];
+    queue_size = queue_size / 8; // queue size is 4 for only one lidar
   } else {
     pub = &global_imu_pub_;
-    queue_size = queue_size * 4;
+    queue_size = queue_size * 8; // shared queue size is 256, for all lidars
   }
 
   if (*pub == nullptr) {

livox_ros_driver/livox_ros_driver/lddc.h

@@ -47,7 +47,7 @@ typedef enum {
 class Lddc {
  public:
   Lddc(int format, int multi_topic, int data_src, int output_type, double frq,
-       std::string &frame_id);
+      std::string &frame_id, bool lidar_bag, bool imu_bag);
   ~Lddc();
 
   int RegisterLds(Lds *lds);
@@ -94,6 +94,8 @@ class Lddc {
   double publish_frq_;
   uint32_t publish_period_ns_;
   std::string frame_id_;
+  bool enable_lidar_bag_;
+  bool enable_imu_bag_;
   ros::Publisher *private_pub_[kMaxSourceLidar];
   ros::Publisher *global_pub_;
   ros::Publisher *private_imu_pub_[kMaxSourceLidar];

livox_ros_driver/livox_ros_driver/lds.cpp

@@ -43,6 +43,35 @@ bool IsFilePathValid(const char *path_str) {
   }
 }
 
+uint64_t RawLdsStampToNs(LdsStamp &timestamp, uint8_t timestamp_type) {
+  if (timestamp_type == kTimestampTypePps) {
+    return timestamp.stamp;
+  } else if (timestamp_type == kTimestampTypeNoSync) {
+    return timestamp.stamp;
+  } else if (timestamp_type == kTimestampTypePtp) {
+    return timestamp.stamp;
+  } else if (timestamp_type == kTimestampTypePpsGps) {
+    struct tm time_utc;
+    time_utc.tm_isdst = 0;
+    time_utc.tm_year = timestamp.stamp_bytes[0] + 100;  // map 2000 to 1990
+    time_utc.tm_mon = timestamp.stamp_bytes[1] - 1;     // map 1~12 to 0~11
+    time_utc.tm_mday = timestamp.stamp_bytes[2];
+    time_utc.tm_hour = timestamp.stamp_bytes[3];
+    time_utc.tm_min = 0;
+    time_utc.tm_sec = 0;
+
+    // uint64_t time_epoch = mktime(&time_utc);
+    uint64_t time_epoch = timegm(&time_utc);  // no timezone
+    time_epoch = time_epoch * 1000000 + timestamp.stamp_word.high;  // to us
+    time_epoch = time_epoch * 1000;                                 // to ns
+
+    return time_epoch;
+  } else {
+    printf("Timestamp type[%d] invalid.\n", timestamp_type);
+    return 0;
+  }
+}
+
 uint64_t GetStoragePacketTimestamp(StoragePacket *packet, uint8_t data_src) {
   LivoxEthPacket *raw_packet =
       reinterpret_cast<LivoxEthPacket *>(packet->raw_data);
@@ -86,6 +115,7 @@ uint32_t CalculatePacketQueueSize(uint32_t interval_ms, uint8_t product_type,
   uint32_t queue_size =
       (interval_ms * GetPacketNumPerSec(product_type, data_type)) / 1000;
 
+  queue_size = queue_size * 2;
   if (queue_size < kMinEthPacketQueueSize) {
     queue_size = kMinEthPacketQueueSize;
   } else if (queue_size > kMaxEthPacketQueueSize) {
@@ -598,9 +628,9 @@ void Lds::UpdateLidarInfoByEthPacket(LidarDevice *p_lidar, \
     p_lidar->onetime_publish_packets = \
         GetPacketNumPerSec(p_lidar->info.type, \
         p_lidar->raw_data_type) * buffer_time_ms_ / 1000;
-    printf("DataType[%d] PacketInterval[%d] PublishPackets[%d]\n", \
+    printf("Lidar[%d][%s] DataType[%d] PacketInterval[%d] PublishPackets[%d]\n",
-        p_lidar->raw_data_type, p_lidar->packet_interval, \
+        p_lidar->handle, p_lidar->info.broadcast_code, p_lidar->raw_data_type,
-        p_lidar->onetime_publish_packets);
+        p_lidar->packet_interval, p_lidar->onetime_publish_packets);
   }
 }
 
@@ -608,8 +638,15 @@ void Lds::StorageRawPacket(uint8_t handle, LivoxEthPacket* eth_packet) {
   LidarDevice *p_lidar = &lidars_[handle];
   LidarPacketStatistic *packet_statistic = &p_lidar->statistic_info;
   LdsStamp cur_timestamp;
+  uint64_t timestamp;
+
   memcpy(cur_timestamp.stamp_bytes, eth_packet->timestamp,
          sizeof(cur_timestamp));
+  timestamp = RawLdsStampToNs(cur_timestamp, eth_packet->timestamp_type);
+  if (timestamp >= kRosTimeMax) {
+    printf("Raw EthPacket time out of range Lidar[%d]\n", handle);
+    return;
+  }
 
   if (kImu != eth_packet->data_type) {
     UpdateLidarInfoByEthPacket(p_lidar, eth_packet);
@@ -629,15 +666,14 @@ void Lds::StorageRawPacket(uint8_t handle, LivoxEthPacket* eth_packet) {
     if (nullptr == p_queue->storage_packet) {
       uint32_t queue_size = CalculatePacketQueueSize(
           buffer_time_ms_, p_lidar->info.type, eth_packet->data_type);
-      queue_size = queue_size * 8; /* 8 multiple the min size */
       InitQueue(p_queue, queue_size);
-      printf("Lidar%02d[%s] queue size : %d %d\n", p_lidar->handle,
+      printf("Lidar[%d][%s] storage queue size : %d %d\n", p_lidar->handle,
              p_lidar->info.broadcast_code, queue_size, p_queue->size);
     }
     if (!QueueIsFull(p_queue)) {
-      QueuePushAny(p_queue, (uint8_t *)eth_packet, \
+      QueuePushAny(p_queue, (uint8_t *)eth_packet,
-          GetEthPacketLen(eth_packet->data_type), \
+          GetEthPacketLen(eth_packet->data_type),
-          packet_statistic->timebase, \
+          packet_statistic->timebase,
           GetPointsPerPacket(eth_packet->data_type));
       if (QueueUsedSize(p_queue) > p_lidar->onetime_publish_packets) {
         if (semaphore_.GetCount() <= 0) {
@@ -662,13 +698,13 @@ void Lds::StorageRawPacket(uint8_t handle, LivoxEthPacket* eth_packet) {
     if (nullptr == p_queue->storage_packet) {
       uint32_t queue_size = 256;  /* fixed imu data queue size */
       InitQueue(p_queue, queue_size);
-      printf("Lidar%02d[%s] imu queue size : %d %d\n", p_lidar->handle,
+      printf("Lidar[%d][%s] imu storage queue size : %d %d\n", p_lidar->handle,
              p_lidar->info.broadcast_code, queue_size, p_queue->size);
     }
     if (!QueueIsFull(p_queue)) {
-      QueuePushAny(p_queue, (uint8_t *)eth_packet, \
+      QueuePushAny(p_queue, (uint8_t *)eth_packet,
-          GetEthPacketLen(eth_packet->data_type),\
+          GetEthPacketLen(eth_packet->data_type),
-          packet_statistic->imu_timebase, \
+          packet_statistic->imu_timebase,
           GetPointsPerPacket(eth_packet->data_type));
     }
   }

livox_ros_driver/livox_ros_driver/lds.h

@@ -48,7 +48,7 @@ const uint32_t kMaxSourceLidar = 32;
 /** Eth packet relative info parama */
 const uint32_t kMaxPointPerEthPacket = 100;
 const uint32_t kMinEthPacketQueueSize = 32;   /**< must be 2^n */
-const uint32_t kMaxEthPacketQueueSize = 8192; /**< must be 2^n */
+const uint32_t kMaxEthPacketQueueSize = 131072; /**< must be 2^n */
 const uint32_t kImuEthPacketQueueSize = 256;
 
 const uint32_t KEthPacketHeaderLength = 18; /**< (sizeof(LivoxEthPacket) - 1) */
@@ -56,6 +56,7 @@ const uint32_t KEthPacketHeaderLength = 18; /**< (sizeof(LivoxEthPacket) - 1) */
 const uint32_t KCartesianPointSize = 13;
 const uint32_t KSphericalPointSzie = 9;
 
+const uint64_t kRosTimeMax = 4294967296000000000; /**< 2^32 * 1000000000ns */
 const int64_t kPacketTimeGap = 1000000; /**< 1ms = 1000000ns */
 /**< the threshold of packet continuous */
 const int64_t kMaxPacketTimeGap = 1700000;
@@ -262,6 +263,7 @@ const ProductTypePointInfoPair product_type_info_pair_table[kMaxProductType] = {
  * Global function for general use.
  */
 bool IsFilePathValid(const char *path_str);
+uint64_t RawLdsStampToNs(LdsStamp &timestamp, uint8_t timestamp_type);
 uint64_t GetStoragePacketTimestamp(StoragePacket *packet, uint8_t data_src);
 uint32_t CalculatePacketQueueSize(uint32_t interval_ms, uint8_t product_type,
                                   uint8_t data_type);

livox_ros_driver/livox_ros_driver/lds_lvx.cpp

@@ -120,11 +120,6 @@ int LdsLvx::InitLdsLvx(const char *lvx_path) {
     p_extrinsic->trans[2] = lvx_dev_info.z;
     EulerAnglesToRotationMatrix(p_extrinsic->euler, p_extrinsic->rotation);
     p_extrinsic->enable = lvx_dev_info.extrinsic_enable;
-
-    uint32_t queue_size = kMaxEthPacketQueueSize * 16;
-    InitQueue(&lidars_[handle].data, queue_size);
-    queue_size = kMaxEthPacketQueueSize;
-    InitQueue(&lidars_[handle].imu_data, queue_size);
   }
 
   t_read_lvx_ =
@@ -166,6 +161,19 @@ void LdsLvx::ReadLvxFile() {
         }
 
         data_type = eth_packet->data_type;
+        if (handle >= lvx_file_->GetDeviceCount()) {
+          printf("Raw data handle error, error handle is %d\n", handle);
+          break;
+        }
+        if (data_type >= kMaxPointDataType) {
+          printf("Raw data type error, error data_type is %d\n", data_type);
+          break;
+        }
+        if (eth_packet->version != 5) {
+          printf("EthPacket version[%d] not supported\n", eth_packet->version);
+          break;
+        }
+        
         /** Packet length + device index */
         data_offset += (GetEthPacketLen(data_type) + 1);
         StorageRawPacket(handle, eth_packet);

livox_ros_driver/livox_ros_driver/livox_ros_driver.cpp

@@ -69,9 +69,11 @@ int main(int argc, char **argv) {
   int xfer_format = kPointCloud2Msg;
   int multi_topic = 0;
   int data_src = kSourceRawLidar;
-  double publish_freq = 10.0; /* Hz */
+  double publish_freq  = 10.0; /* Hz */
-  int output_type = kOutputToRos;
+  int output_type      = kOutputToRos;
   std::string frame_id = "livox_frame";
+  bool lidar_bag = true;
+  bool imu_bag   = false;
 
   livox_node.getParam("xfer_format", xfer_format);
   livox_node.getParam("multi_topic", multi_topic);
@@ -79,17 +81,19 @@ int main(int argc, char **argv) {
   livox_node.getParam("publish_freq", publish_freq);
   livox_node.getParam("output_data_type", output_type);
   livox_node.getParam("frame_id", frame_id);
+  livox_node.getParam("enable_lidar_bag", lidar_bag);
+  livox_node.getParam("enable_imu_bag", imu_bag);
   if (publish_freq > 100.0) {
     publish_freq = 100.0;
-  } else if (publish_freq < 1.0) {
+  } else if (publish_freq < 0.1) {
-    publish_freq = 1.0;
+    publish_freq = 0.1;
   } else {
     publish_freq = publish_freq;
   }
 
   /** Lidar data distribute control and lidar data source set */
   Lddc *lddc = new Lddc(xfer_format, multi_topic, data_src, output_type,
-                        publish_freq, frame_id);
+                        publish_freq, frame_id, lidar_bag, imu_bag);
   lddc->SetRosNode(&livox_node);
 
   int ret = 0;