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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
This commit is contained in:
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
View File

@@ -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

37
livox_ros_driver/livox_hub.cpp
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@@ -49,6 +49,7 @@
const uint64_t kPacketTimeGap = 1000000; // 1ms = 1000000ns
const uint64_t kMaxPacketTimeGap = 1700000; // the threshold of packet continuous
const uint64_t kDeviceDisconnectThreshold = 1000000000; // the threshold of device disconect
const uint64_t kNsPerSecond = 1000000000; // 1s = 1000000000ns
const uint32_t kPublishIntervalMs = 50; // unit:ms
@@ -156,12 +157,20 @@ void InitStoragePacketPool(void) {
}
}
uint32_t QueuePop(StoragePacketQueue* queue, StoragePacket* storage_packet) {
static void QueueProPop(StoragePacketQueue* queue, StoragePacket* storage_packet) {
uint32_t mask = queue->mask;
uint32_t rd_idx = queue->rd_idx & mask;
memcpy(storage_packet, queue->storage_packet[rd_idx], sizeof(StoragePacket));
}
static void QueuePopUpdate(StoragePacketQueue* queue) {
queue->rd_idx++;
}
uint32_t QueuePop(StoragePacketQueue* queue, StoragePacket* storage_packet) {
QueueProPop(queue, storage_packet);
QueuePopUpdate(queue);
return 1;
}
@@ -236,6 +245,15 @@ static uint64_t GetStoragePacketTimestamp(StoragePacket* packet) {
}
}
static uint32_t GetPointInterval(uint32_t device_type) {
if ((kDeviceTypeLidarTele == device_type) || \
(kDeviceTypeLidarHorizon == device_type)) {
return 4167; // 4167 ns
} else {
return 10000; // ns
}
}
/* for pointcloud convert process */
static uint32_t PublishPointcloud2(StoragePacketQueue* queue, uint32_t packet_num, \
uint8_t handle) {
@@ -251,7 +269,7 @@ static uint32_t PublishPointcloud2(StoragePacketQueue* queue, uint32_t packet_nu
StoragePacket storage_packet;
while (published_packet < packet_num) {
QueuePop(queue, &storage_packet);
QueueProPop(queue, &storage_packet);
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
LivoxRawPoint* raw_points = reinterpret_cast<LivoxRawPoint *>(raw_packet->data);
@@ -278,6 +296,7 @@ static uint32_t PublishPointcloud2(StoragePacketQueue* queue, uint32_t packet_nu
cloud->points.push_back(point);
}
QueuePopUpdate(queue);
last_timestamp = timestamp;
++published_packet;
}
@@ -294,6 +313,8 @@ static uint32_t PublishCustomPointcloud(StoragePacketQueue* queue, uint32_t pack
uint64_t timestamp = 0;
uint64_t last_timestamp = 0;
uint32_t published_packet = 0;
uint32_t point_interval = GetPointInterval(lidars[handle].info.type);
uint32_t packet_offset_time = 0; // ns
/* init livox custom msg */
livox_ros_driver::CustomMsg livox_msg;
@@ -303,30 +324,33 @@ static uint32_t PublishCustomPointcloud(StoragePacketQueue* queue, uint32_t pack
++msg_seq;
livox_msg.header.stamp = ros::Time::now();
livox_msg.timebase = 0;
livox_msg.timestep = 10000; // 10us = 10^4ns;
livox_msg.point_num = 0;
livox_msg.lidar_id = handle;
StoragePacket storage_packet;
while (published_packet < packet_num) {
QueuePop(queue, &storage_packet);
QueueProPop(queue, &storage_packet);
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
LivoxRawPoint* raw_points = reinterpret_cast<LivoxRawPoint *>(raw_packet->data);
timestamp = GetStoragePacketTimestamp(&storage_packet);
if (published_packet && \
((timestamp - last_timestamp) > kMaxPacketTimeGap)) {
((timestamp - last_timestamp) > kDeviceDisconnectThreshold)) {
ROS_INFO("packet loss : %ld", timestamp);
break;
}
if (!livox_msg.timebase) {
livox_msg.timebase = timestamp; // to us
ROS_DEBUG("[%d]:%ld", handle, livox_msg.timebase);
packet_offset_time = 0; // first packet
ROS_DEBUG("[%d]:%ld %d", handle, livox_msg.timebase, point_interval);
} else {
packet_offset_time = (uint32_t)(timestamp - livox_msg.timebase);
}
livox_msg.point_num += storage_packet.point_num;
for (uint32_t i = 0; i < storage_packet.point_num; i++) {
livox_ros_driver::CustomPoint point;
point.offset_time = packet_offset_time + i*point_interval;
point.x = raw_points->x/1000.0f;
point.y = raw_points->y/1000.0f;
point.z = raw_points->z/1000.0f;
@@ -336,6 +360,7 @@ static uint32_t PublishCustomPointcloud(StoragePacketQueue* queue, uint32_t pack
livox_msg.points.push_back(point);
}
QueuePopUpdate(queue);
last_timestamp = timestamp;
++published_packet;
}

37
livox_ros_driver/livox_lidar.cpp
View File

@@ -49,6 +49,7 @@
const uint64_t kPacketTimeGap = 1000000; // 1ms = 1000000ns
const uint64_t kMaxPacketTimeGap = 1700000; // the threshold of packet continuous
const uint64_t kDeviceDisconnectThreshold = 1000000000; // the threshold of device disconect
const uint64_t kNsPerSecond = 1000000000; // 1s = 1000000000ns
const uint32_t kPublishIntervalMs = 50; // unit:ms
@@ -154,12 +155,20 @@ void InitStoragePacketPool(void) {
}
}
uint32_t QueuePop(StoragePacketQueue* queue, StoragePacket* storage_packet) {
static void QueueProPop(StoragePacketQueue* queue, StoragePacket* storage_packet) {
uint32_t mask = queue->mask;
uint32_t rd_idx = queue->rd_idx & mask;
memcpy(storage_packet, queue->storage_packet[rd_idx], sizeof(StoragePacket));
}
static void QueuePopUpdate(StoragePacketQueue* queue) {
queue->rd_idx++;
}
uint32_t QueuePop(StoragePacketQueue* queue, StoragePacket* storage_packet) {
QueueProPop(queue, storage_packet);
QueuePopUpdate(queue);
return 1;
}
@@ -231,6 +240,15 @@ static uint64_t GetStoragePacketTimestamp(StoragePacket* packet) {
}
}
static uint32_t GetPointInterval(uint32_t device_type) {
if ((kDeviceTypeLidarTele == device_type) || \
(kDeviceTypeLidarHorizon == device_type)) {
return 4167; // 4167 ns
} else {
return 10000; // ns
}
}
/* for pointcloud convert process */
static uint32_t PublishPointcloud2(StoragePacketQueue* queue, uint32_t packet_num, \
uint8_t handle) {
@@ -246,7 +264,7 @@ static uint32_t PublishPointcloud2(StoragePacketQueue* queue, uint32_t packet_nu
StoragePacket storage_packet;
while (published_packet < packet_num) {
QueuePop(queue, &storage_packet);
QueueProPop(queue, &storage_packet);
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
LivoxRawPoint* raw_points = reinterpret_cast<LivoxRawPoint *>(raw_packet->data);
@@ -273,6 +291,7 @@ static uint32_t PublishPointcloud2(StoragePacketQueue* queue, uint32_t packet_nu
cloud->points.push_back(point);
}
QueuePopUpdate(queue);
last_timestamp = timestamp;
++published_packet;
}
@@ -289,6 +308,8 @@ static uint32_t PublishCustomPointcloud(StoragePacketQueue* queue, uint32_t pack
uint64_t timestamp = 0;
uint64_t last_timestamp = 0;
uint32_t published_packet = 0;
uint32_t point_interval = GetPointInterval(lidars[handle].info.type);
uint32_t packet_offset_time = 0; // ns
/* init livox custom msg */
livox_ros_driver::CustomMsg livox_msg;
@@ -298,30 +319,33 @@ static uint32_t PublishCustomPointcloud(StoragePacketQueue* queue, uint32_t pack
++msg_seq;
livox_msg.header.stamp = ros::Time::now();
livox_msg.timebase = 0;
livox_msg.timestep = 10000; // 10us = 10^4ns;
livox_msg.point_num = 0;
livox_msg.lidar_id = handle;
StoragePacket storage_packet;
while (published_packet < packet_num) {
QueuePop(queue, &storage_packet);
QueueProPop(queue, &storage_packet);
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
LivoxRawPoint* raw_points = reinterpret_cast<LivoxRawPoint *>(raw_packet->data);
timestamp = GetStoragePacketTimestamp(&storage_packet);
if (published_packet && \
((timestamp - last_timestamp) > kMaxPacketTimeGap)) {
((timestamp - last_timestamp) > kDeviceDisconnectThreshold)) {
ROS_INFO("packet loss : %ld", timestamp);
break;
}
if (!livox_msg.timebase) {
livox_msg.timebase = timestamp; // to us
ROS_DEBUG("[%d]:%ld", handle, livox_msg.timebase);
packet_offset_time = 0; // first packet
ROS_DEBUG("[%d]:%ld %d", handle, livox_msg.timebase, point_interval);
} else {
packet_offset_time = (uint32_t)(timestamp - livox_msg.timebase);
}
livox_msg.point_num += storage_packet.point_num;
for (uint32_t i = 0; i < storage_packet.point_num; i++) {
livox_ros_driver::CustomPoint point;
point.offset_time = packet_offset_time + i*point_interval;
point.x = raw_points->x/1000.0f;
point.y = raw_points->y/1000.0f;
point.z = raw_points->z/1000.0f;
@@ -331,6 +355,7 @@ static uint32_t PublishCustomPointcloud(StoragePacketQueue* queue, uint32_t pack
livox_msg.points.push_back(point);
}
QueuePopUpdate(queue);
last_timestamp = timestamp;
++published_packet;
}

1
livox_ros_driver/msg/CustomMsg.msg
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@@ -2,7 +2,6 @@
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

1
livox_ros_driver/msg/CustomPoint.msg
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@@ -1,5 +1,6 @@
# Livox costom 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