From ac07b53f6d0840e8337296e9bfdccb0e33b844fd Mon Sep 17 00:00:00 2001 From: livox Date: Wed, 6 May 2020 17:48:08 +0800 Subject: [PATCH] Update README.md --- README.md | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 74b2c83..c0efa53 100644 --- a/README.md +++ b/README.md @@ -12,7 +12,7 @@ For ROS installation, please refer to the ROS installation guide : [ROS installation guide](https://www.ros.org/install/) -    ***Note : *** +    ***Note :***     (1) Be sure to install the full version of ROS (ros-distro-desktop-full); @@ -30,7 +30,7 @@ For ROS installation, please refer to the ROS installation guide : 　　`git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src` -    ***Note : *** +    ***Note :***     Be sure to use the above command to clone the code to the local, otherwise it will compile error due to the file path problem. @@ -57,7 +57,7 @@ For ROS installation, please refer to the ROS installation guide :       When the connection status of the device specified in the configuration file is configured to enable connection (true), the livox_ros_driver will only connect to the device specified in the configuration file; -    ***Note : *** +    ***Note :***     (1) the json configuration file is in the "ws_livox/src/livox_ros_driver/config" directory; @@ -75,7 +75,7 @@ For ROS installation, please refer to the ROS installation guide :     ![Broadcast Code](images/broadcast_code.png) -    ***Note : *** +    ***Note :***     X in the figure above corresponds to 1 in MID-100_Left/MID-40/Horizon/Tele products, 2 in MID-100_Middle, and 3 in MID-100_Right. @@ -106,7 +106,7 @@ All internal parameters of Livox_ros_driver are in the launch file. Below are de | multi_topic | If the LiDAR device has an independent topic to publish pointcloud data
0 -- All LiDAR devices use the same topic to publish pointcloud data
1 -- Each LiDAR device has its own topic to publish point cloud data | 0 | | xfer_format | Set pointcloud format
0 -- Livox pointcloud2(PointXYZRTL) pointcloud format
1 -- Livox customized pointcloud format
2 -- Standard pointcloud2 (pcl :: PointXYZI) pointcloud format in the PCL library | 0 | -    ***Livox_ros_driver pointcloud data detailed description : *** +    ***Livox_ros_driver pointcloud data detailed description :*** 1. Livox pointcloud2 (PointXYZRTL) point cloud format, as follows : @@ -216,7 +216,7 @@ In the "ws_livox/src/livox_ros_driver/launch" path, there are two json files, li | enable_connect | Boolean | Whether to connect to this Hub
true -- Connecting to this Hub means that all LiDAR data connected to this Hub will be received
false -- Prohibition of connection to this Hub means that all LiDAR data connected to this Hub will not be received | false | | coordinate | Int | Coordinate
0 -- Cartesian
1 -- Spherical | 0 | -    ***Note : *** +    ***Note :***     (1) The configuration parameters enable_connect and coordinate in the Hub configuration item "hub_config" are global and control the behavior of all LiDARs. Therefore, the LiDAR related configuration in the Hub json configuration file does not include these two contents. @@ -230,7 +230,7 @@ Prepare a GPS device to ensure that the GPS can output UTC time information in G [Timestamp synchronization](https://github.com/Livox-SDK/Livox-SDK/wiki/Timestamp-Synchronization) -    ***Note : *** +    ***Note :***     (1) The time stamp synchronization function of livox_ros_driver is based on the LidarSetUtcSyncTime interface of Livox-SDK, and only supports GPS synchronization, which is one of many synchronization methods of livox devices.