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feature:add offset time for every point

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fix:fix directory tree bug in the license file
change:update custom msg format in README.md
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Livox-SDK
2019-04-08 21:48:12 +08:00
parent 0c517daff0
commit 844dd85fe8
5 changed files with 73 additions and 23 deletions
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18
README.md
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@@ -1,12 +1,12 @@
# livox ros driver
# 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；
1. Publish pointcloud2 format point cloud and automatically load rviz.
for example：
for example:
```
roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
@@ -18,9 +18,9 @@ or
roslaunch livox_ros_driver livox_hub_rviz.launch bd_list:="hub_broadcast_code"
```
2. Publish pointcloud2 format point cloud only；
2. Publish pointcloud2 format point cloud only.
for example：
for example:
```
roslaunch livox_ros_driver livox_lidar.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
@@ -34,9 +34,9 @@ roslaunch livox_ros_driver livox_hub.launch bd_list:="hub_broadcast_code"
3. Publish livox custom format point cloud；
3. Publish livox custom format point cloud.
for example：
for example:
```
roslaunch livox_ros_driver livox_lidar_msg.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
@@ -48,12 +48,11 @@ or
roslaunch livox_ros_driver livox_hub_msg.launch bd_list:="hub_broadcast_code"
```
livox custom msg format：
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
@@ -61,6 +60,7 @@ 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