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feature:add a detail description of the launch file

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Livox-SDK
2019-04-09 17:26:37 +08:00
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README.md
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@@ -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<br/>Publish pointcloud2 format point cloud<br/>Automatically load rviz |
| livox_hub_rviz.launch | Connect to Livox Hub units<br/>Publish pointcloud2 format point cloud<br />Automatically load rviz |
| livox_lidar.launch | Connect to Livox LiDAR units<br />Publish pointcloud2 format point cloud |
| livox_hub.launch | Connect to Livox Hub units<br />Publish pointcloud2 format point cloud |
| livox_lidar_msg.launch | Connect to Livox LiDAR units<br />Publish livox custom format point cloud |
| livox_hub_msg.launch | Connect to Livox Hub units<br />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
```
```