From 8c24d91f5195eb7fca844079bcb251faff756c8a Mon Sep 17 00:00:00 2001 From: Livox-SDK Date: Tue, 9 Apr 2019 17:26:37 +0800 Subject: [PATCH] feature:add a detail description of the launch file --- README.md | 57 ++++++++++++++++++------------------------------------- 1 file changed, 18 insertions(+), 39 deletions(-) diff --git a/README.md b/README.md index 63d6d6d..5c6949c 100644 --- a/README.md +++ b/README.md @@ -2,53 +2,32 @@ ### Run livox ros driver -livox_ros_driver is a new ros package, 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: +livox_ros_driver is a new ros package, 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 when using different launch file. There is *bd_list* arg in each launch file. All Livox LiDAR units in your LAN will be connected automatically in default. +e.g. -1. Publish pointcloud2 format point cloud and automatically load rviz. +``` +roslaunch livox_ros_driver livox_lidar_rviz.launch +``` -for example: +If you want to connect to the specific LiDAR uint(s) only, please add the broadcast code into command line. +e.g. ``` roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3" ``` -or +Features of *.launch* files are listed as below: -``` -roslaunch livox_ros_driver livox_hub_rviz.launch bd_list:="hub_broadcast_code" -``` +| launch file | features | +| ------------------------- | ------------------------------------------------------------ | +| *livox_lidar_rviz.launch* | Connect to Livox LiDAR units
Publish pointcloud2 format point cloud
Automatically load rviz | +| livox_hub_rviz.launch | Connect to Livox Hub units
Publish pointcloud2 format point cloud
Automatically load rviz | +| livox_lidar.launch | Connect to Livox LiDAR units
Publish pointcloud2 format point cloud | +| livox_hub.launch | Connect to Livox Hub units
Publish pointcloud2 format point cloud | +| livox_lidar_msg.launch | Connect to Livox LiDAR units
Publish livox custom format point cloud | +| livox_hub_msg.launch | Connect to Livox Hub units
Publish livox custom format point cloud | -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: +Livox custom msg format： ``` Header header # ROS standard message header @@ -66,4 +45,4 @@ float32 y # Y axis, unit:m float32 z # Z axis, unit:m uint8 reflectivity # reflectivity, 0~255 uint8 line # laser number in lidar -``` +``` \ No newline at end of file