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2020-05-06 17:48:08 +08:00
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@@ -12,7 +12,7 @@ For ROS installation, please refer to the ROS installation guide :
[ROS installation guide](https://www.ros.org/install/) [ROS installation guide](https://www.ros.org/install/)
    ***Note : ***     ***Note :***
    (1) Be sure to install the full version of ROS (ros-distro-desktop-full);     (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` 　　`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.     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;       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;     (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)     ![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.     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<br>0 -- All LiDAR devices use the same topic to publish pointcloud data<br>1 -- Each LiDAR device has its own topic to publish point cloud data | 0 | | multi_topic | If the LiDAR device has an independent topic to publish pointcloud data<br>0 -- All LiDAR devices use the same topic to publish pointcloud data<br>1 -- Each LiDAR device has its own topic to publish point cloud data | 0 |
| xfer_format | Set pointcloud format<br>0 -- Livox pointcloud2(PointXYZRTL) pointcloud format<br>1 -- Livox customized pointcloud format<br>2 -- Standard pointcloud2 (pcl :: PointXYZI) pointcloud format in the PCL library | 0 | | xfer_format | Set pointcloud format<br>0 -- Livox pointcloud2(PointXYZRTL) pointcloud format<br>1 -- Livox customized pointcloud format<br>2 -- Standard pointcloud2 (pcl :: PointXYZI) pointcloud format in the PCL library | 0 |
&ensp;&ensp;&ensp;&ensp;***Livox_ros_driver pointcloud data detailed description : *** &ensp;&ensp;&ensp;&ensp;***Livox_ros_driver pointcloud data detailed description :***
1. Livox pointcloud2 (PointXYZRTL) point cloud format, as follows : 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<br>true -- Connecting to this Hub means that all LiDAR data connected to this Hub will be received<br>false -- Prohibition of connection to this Hub means that all LiDAR data connected to this Hub will not be received | false | | enable_connect | Boolean | Whether to connect to this Hub<br>true -- Connecting to this Hub means that all LiDAR data connected to this Hub will be received<br>false -- Prohibition of connection to this Hub means that all LiDAR data connected to this Hub will not be received | false |
| coordinate | Int | Coordinate<br>0 -- Cartesian<br>1 -- Spherical | 0 | | coordinate | Int | Coordinate<br>0 -- Cartesian<br>1 -- Spherical | 0 |
&ensp;&ensp;&ensp;&ensp;***Note : *** &ensp;&ensp;&ensp;&ensp;***Note :***
&ensp;&ensp;&ensp;&ensp;(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. &ensp;&ensp;&ensp;&ensp;(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) [Timestamp synchronization](https://github.com/Livox-SDK/Livox-SDK/wiki/Timestamp-Synchronization)
&ensp;&ensp;&ensp;&ensp;***Note : *** &ensp;&ensp;&ensp;&ensp;***Note :***
&ensp;&ensp;&ensp;&ensp;(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. &ensp;&ensp;&ensp;&ensp;(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.