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style:Adjust the indentation and alignment in README.md file
This commit is contained in:
Livox-SDK
108
README.md
108
README.md
@@ -8,30 +8,31 @@ Before running livox_ros_driver, ROS and Livox-SDK must be installed.
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### 1.1 ROS installation
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For ROS installation, please refer to the ROS installation guide:
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For ROS installation, please refer to the ROS installation guide :
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[ROS installation guide](https://www.ros.org/install/)
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[ROS installation guide](https://www.ros.org/install/)
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***Note:***
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    ***Note:***
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(1) Be sure to install the full version of ROS (ros-distro-desktop-full);
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    (1) Be sure to install the full version of ROS (ros-distro-desktop-full);
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(2) There are 7 to 8 steps in ROS installation, please read the installation guide in detail;
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    (2) There are 7 to 8 steps in ROS installation, please read the installation guide in detail;
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### 1.2 Livox-SDK Installation
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1. Download or clone [Livox-SDK](https://github.com/Livox-SDK/Livox-SDK) from Github to local;
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1. Download or clone [Livox-SDK](https://github.com/Livox-SDK/Livox-SDK) from Github to local;
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2. Refer to the corresponding [README.md](https://github.com/Livox-SDK/Livox-SDK/blob/master/README.md) document to install and run Livox-SDK;
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2. Refer to the corresponding [README.md](https://github.com/Livox-SDK/Livox-SDK/blob/master/README.md) document to install and run Livox-SDK;
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## 2. Get and build livox_ros_driver
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1. Get livox_ros_driver from GitHub :
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`git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src`
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`git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src`
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***Note:***
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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.
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    ***Note:***
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    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.
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2. Use the following command to build livox_ros_driver :
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@@ -42,49 +43,47 @@ For ROS installation, please refer to the ROS installation guide:
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3. Use the following command to update the current ROS package environment :
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`source ./devel/setup.sh`
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    `source ./devel/setup.sh`
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## 3. Run livox_ros_driver
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### 3.1 Use the ROS launch file to load livox_ros_driver
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The command format is as follows:
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    The command format is as follows :
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`roslaunch livox_ros_driver [launch file] [param]`
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    `roslaunch livox_ros_driver [launch file] [param]`
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1. If the [param] parameter is empty, livox_ros_driver will connect to the corresponding device according to the configuration in the configuration file. The connection rules are as follows:
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1. If the [param] parameter is empty, livox_ros_driver will connect to the corresponding device according to the configuration in the configuration file. The connection rules are as follows :
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When the connection status of the device specified in the configuration file is configured to enable
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      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;
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connection (true), the livox_ros_driver will only connect to the device specified in the configuration file;
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    ***Note:***
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***Note:***
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    (1) the json configuration file is in the "ws_livox/src/livox_ros_driver / config" directory;
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(1) the json configuration file is in the "ws_livox / src / livox_ros_driver / config" directory;
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(2) When the connection status of the devices specified in the configuration file is all configured to prohibit connection (false), livox_ros_driver will automatically connect all the devices that are scanned;
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    (2) When the connection status of the devices specified in the configuration file is all configured to prohibit connection (false), livox_ros_driver will automatically connect all the devices that are scanned;
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2. If the [param] parameter is the broadcast code of LiDAR, take LiDAR (the broadcast code is 0TFDG3B006H2Z11) and LiDAR (the broadcast code is 1HDDG8M00100191) as an example, Use the command as follows :
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```bash
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roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="0TFDG3B006H2Z11&1HDDG8M00100191"
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roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="0TFDG3B006H2Z11&1HDDG8M00100191"
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```
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***Broadcast code introduction***
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    ***Broadcast code introduction***
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Each Livox LiDAR device has a unique broadcast code. The broadcast code consists of a 14-character serial number and an additional character (1, 2, or 3), for a total of 15 characters. The above serial number is located under the QR code of the LiDAR body shell (see the figure below). The broadcast code is used to specify the LiDAR device to be connected. The detailed format is as follows :
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    Each Livox LiDAR device has a unique broadcast code. The broadcast code consists of a 14-character serial number and an additional character (1, 2, or 3), for a total of 15 characters. The above serial number is located under the QR code of the LiDAR body shell (see the figure below). The broadcast code is used to specify the LiDAR device to be connected. The detailed format is as follows :
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***Note:***
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    ***Note:***
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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.
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    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.
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## 4. Launch file and livox_ros_driver internal parameter configuration instructions
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### 4.1 Launch file configuration instructions
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All launch files of livox_ros_driver are in the "ws_livox / src / livox_ros_driver / launch" directory. Different launch files have different configuration parameter values and are used in different scenarios:
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All launch files of livox_ros_driver are in the "ws_livox / src / livox_ros_driver / launch" directory. Different launch files have different configuration parameter values and are used in different scenarios :
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| launch file name | Description |
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| ------------------------- | ------------------------------------------------------------ |
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@@ -99,7 +98,7 @@ All launch files of livox_ros_driver are in the "ws_livox / src / livox_ros_driv
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#### 4.2 Livox_ros_driver internal main parameter configuration instructions
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All internal parameters of Livox_ros_driver are in the launch file. Below are detailed descriptions of the three commonly used parameters:
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All internal parameters of Livox_ros_driver are in the launch file. Below are detailed descriptions of the three commonly used parameters :
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| Parameter | Detailed description | Default |
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| ------------ | ------------------------------------------------------------ | ------- |
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@@ -107,7 +106,7 @@ All internal parameters of Livox_ros_driver are in the launch file. Below are de
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| 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 |
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| 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 |
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***Livox_ros_driver pointcloud data detailed description :***
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    ***Livox_ros_driver pointcloud data detailed description :***
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1. Livox pointcloud2 (PointXYZRTL) point cloud format, as follows :
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@@ -131,7 +130,7 @@ uint8[3] rsvd # Reserved use
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CustomPoint[] points # Pointcloud data
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```
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Customized Point Cloud (CustomPoint) format in the above customized data package:
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    Customized Point Cloud (CustomPoint) format in the above customized data package :
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```c
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uint32 offset_time # offset time relative to the base time
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@@ -143,15 +142,15 @@ uint8 tag # livox tag
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uint8 line # laser number in lidar
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```
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3. The standard pointcloud2 (pcl :: PointXYZI) format in the PCL library:
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1. The standard pointcloud2 (pcl :: PointXYZI) format in the PCL library :
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Please refer to the pcl :: PointXYZI data structure in the point_types.hpp file of the PCL library.
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    Please refer to the pcl :: PointXYZI data structure in the point_types.hpp file of the PCL library.
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## 5. Configure LiDAR parameters
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In the "ws_livox / src / livox_ros_driver / launch" path, there are two json files, livox_hub_config.json and livox_lidar_config.json.
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In the "ws_livox/src/livox_ros_driver/launch" path, there are two json files, livox_hub_config.json and livox_lidar_config.json.
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1. When connecting directly to LiDAR, use the livox_lidar_config.json file to configure LiDAR parameters. Examples of file contents are as follows:
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1. When connecting directly to LiDAR, use the livox_lidar_config.json file to configure LiDAR parameters. Examples of file contents are as follows :
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```json
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{
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@@ -169,9 +168,9 @@ In the "ws_livox / src / livox_ros_driver / launch" path, there are two json fil
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}
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```
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The parameter attributes in the above json file are described in the following table :
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    The parameter attributes in the above json file are described in the following table :
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LiDAR configuration parameter
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<center>LiDAR configuration parameter</center>
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| Parameter | Type | Description | Default |
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| :------------------------- | ------- | ------------------------------------------------------------ | --------------- |
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@@ -183,11 +182,11 @@ In the "ws_livox / src / livox_ros_driver / launch" path, there are two json fil
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| imu_rate | Int | Push frequency of IMU sensor data<br>0 -- stop push<br>1 -- 200 Hz<br>Others -- undefined, it will cause unpredictable behavior<br>Currently only Horizon supports this, MID serials do not support it | 0 |
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| extrinsic_parameter_source | Int | Whether to enable extrinsic parameter automatic compensation<br>0 -- Disable automatic compensation of LiDAR external reference<br>1 -- Automatic compensation of LiDAR external reference | 0 |
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***Note:***
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    ***Note:***
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When connecting multiple LiDAR, if you want to use the external parameter automatic compensation function, you must first use the livox viewer to calibrate the external parameters and save them to LiDAR.
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    When connecting multiple LiDAR, if you want to use the external parameter automatic compensation function, you must first use the livox viewer to calibrate the external parameters and save them to LiDAR.
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1. When connecting to the Hub, use livox_hub_config.json to configure the parameters of the Hub and LiDAR. Examples of file contents are as follows:
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2. When connecting to the Hub, use livox_hub_config.json to configure the parameters of the Hub and LiDAR. Examples of file contents are as follows :
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```json
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{
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@@ -207,9 +206,9 @@ In the "ws_livox / src / livox_ros_driver / launch" path, there are two json fil
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}
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```
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The main difference between the content of Hub json configuration file and the content of the LiDAR json configuration file is that the Hub configuration item "hub_config" is added, and the related configuration content of the Hub is shown in the following table :
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    The main difference between the content of Hub json configuration file and the content of the LiDAR json configuration file is that the Hub configuration item "hub_config" is added, and the related configuration content of the Hub is shown in the following table :
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HUB configuration parameter
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<center>HUB configuration parameter</center>
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| Parameter | Type | Description | Default |
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| -------------- | ------- | ------------------------------------------------------------ | --------------- |
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@@ -217,11 +216,11 @@ In the "ws_livox / src / livox_ros_driver / launch" path, there are two json fil
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| 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 |
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| coordinate | Int | Coordinate<br>0 -- Cartesian<br>1 -- Spherical | 0 |
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***Note:***
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    ***Note:***
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(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.
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    (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.
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(2) The Hub itself supports compensation of LiDAR external parameters, and does not require livox_ros_driver to compensate.
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    (2) The Hub itself supports compensation of LiDAR external parameters, and does not require livox_ros_driver to compensate.
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## 6. livox_ros_driver timestamp synchronization function
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@@ -231,13 +230,13 @@ Prepare a GPS device to ensure that the GPS can output UTC time information in G
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[Timestamp synchronization](https://github.com/Livox-SDK/Livox-SDK/wiki/Timestamp-Synchronization)
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***Note:***
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    ***Note:***
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(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.
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    (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.
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(2) Be sure to set the output frequency of GPRMC / GNRMC time information of GPS to 1Hz, other frequencies are not recommended.
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    (2) Be sure to set the output frequency of GPRMC / GNRMC time information of GPS to 1Hz, other frequencies are not recommended.
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(3) Examples of GPRMC / GNRMC format strings are as follows:
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    (3) Examples of GPRMC / GNRMC format strings are as follows :
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```bash
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$GNRMC,143909.00,A,5107.0020216,N,11402.3294835,W,0.036,348.3,210307,0.0,E,A*31
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@@ -249,9 +248,9 @@ $GPRMC,190430,A,4812.3038,S,07330.7690,W,3.7,3.8,090210,13.7,E,D*26
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### 6.2 Enable timestamp synchronization
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livox_ros_driver only supports the timestamp synchronization function when connected to LiDAR. The timestamp related configuration item timesync_config is in the livox_lidar_config.json file. The detailed configuration content is shown in the table below:
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livox_ros_driver only supports the timestamp synchronization function when connected to LiDAR. The timestamp related configuration item timesync_config is in the livox_lidar_config.json file. The detailed configuration content is shown in the table below :
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Timestamp synchronization function configuration instructions
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<center>Timestamp synchronization function configuration instructions</center>
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| Parameter | Type | Description | Default |
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| ---------------- | -------- | ------------------------------------------------------------ | -------------- |
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@@ -265,6 +264,13 @@ livox_ros_driver only supports the timestamp synchronization function when conne
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livox_ros_driver supports the conversion of lvx pointcloud data files to rosbag files. Use the command as follows :
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`roslaunch livox_ros_driver lvx_to_rosbag.launch lvx_file_path:="/home/livox/test.lvx"`
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`roslaunch livox_ros_driver lvx_to_rosbag.launch lvx_file_path:="/home/livox/test.lvx"`
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After replacing "/home/livox/test.lvx" in the above command with the local lvx data file path, you can simply run it; if the conversion is successful, a rosbag format file with the same name will be generated under the above path.
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## 8. Support
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You can get support from Livox with the following methods :
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* Send email to dev@livoxtech.com with a clear description of your problem and your setup
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* Report issue on github
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110
README_CN.md
110
README_CN.md
@@ -11,40 +11,40 @@ ROS 环境（ indigo,kinetic,melodic ）的 ubuntu14.04/16.04/18.04 操作系统
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ROS 环境安装请参考 ROS 安装指南：
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[ROS 安装指南](https://www.ros.org/install/)
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[ROS 安装指南](https://www.ros.org/install/)
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***说明：***
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    ***说明：***
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（1）务必安装 ROS 完整版 (ros-distro-desktop-full)；
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    （1）务必安装 ROS 完整版 (ros-distro-desktop-full)；
|
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|
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（2）国内安装 ROS 时，由于网络环境问题，有可能安装失败或者安装错误，请耐心查找错误原因，并解决问题；
|
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    （2）国内安装 ROS 时，由于网络环境问题，有可能安装失败或者安装错误，请耐心查找错误原因，并解决问题；
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（3）ROS 安装一共有 7 到 8 个步骤，请仔细阅读安装指南；
|
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    （3）ROS 安装一共有 7 到 8 个步骤，请仔细阅读安装指南；
|
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### 1.2 Livox-SDK 安装
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1、从 Github 下载或者克隆 Livox-SDK 到本地；
|
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1. 从 Github 下载或者克隆 Livox-SDK 到本地；
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||||
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||||
2、参考对应的 README.md 文档安装和运行 Livox-SDK；
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||||
2. 参考对应的 README.md 文档安装和运行 Livox-SDK；
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## 2. 获取并构建览沃 ROS 驱动源代码包
|
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||||
1、从览沃 GitHub 获取览沃 ROS 驱动程序
|
||||
1. 从览沃 GitHub 获取览沃 ROS 驱动程序
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`git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src`
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|
||||
***说明：***
|
||||
    ***说明：***
|
||||
|
||||
务必使用上面的命令克隆代码到本地，否则会因为文件路径的问题而编译出错
|
||||
    务必使用上面的命令克隆代码到本地，否则会因为文件路径的问题而编译出错
|
||||
|
||||
2、参照如下命令，构建览沃 ROS 驱动程序
|
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2. 参照如下命令，构建览沃 ROS 驱动程序
|
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|
||||
```bash
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cd ws_livox
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catkin_make
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```
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3、使用如下命令更新当前 ROS 包环境
|
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3. 使用如下命令更新当前 ROS 包环境
|
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`source ./devel/setup.sh`
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@@ -56,31 +56,31 @@ ROS 环境安装请参考 ROS 安装指南：
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`roslaunch livox_ros_driver [launch file] [param]`
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1、如果 [param] 参数项为空，则览沃 ROS 驱动程序会根据配置文件中的具体配置来连接对应的设备，具体连接规则如下：
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1. 如果 [param] 参数项为空，则览沃 ROS 驱动程序会根据配置文件中的具体配置来连接对应的设备，具体连接规则如下：
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当配置文件中指定的设备连接状态配置为使能连接时 (true) ，览沃 ROS 驱动程序只会连接该配置文件中指定的设备；
|
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    当配置文件中指定的设备连接状态配置为使能连接时 (true) ，览沃 ROS 驱动程序只会连接该配置文件中指定的设备；
|
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|
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***说明***
|
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    ***说明***
|
||||
|
||||
（1）该配置文件位于 "ws_livox/src/livox_ros_driver/config" 目录下；
|
||||
    （1）该配置文件位于 "ws_livox/src/livox_ros_driver/config" 目录下；
|
||||
|
||||
（2）当配置文件中指定的设备连接状态全部配置为禁止连接 (false) 时，览沃 ROS 驱动程序会自动连接扫描到的所有设备；
|
||||
    （2）当配置文件中指定的设备连接状态全部配置为禁止连接 (false) 时，览沃 ROS 驱动程序会自动连接扫描到的所有设备；
|
||||
|
||||
2、如果 [param] 参数为 LiDAR 的广播码，以 LiDAR（ 广播码为 0TFDG3B006H2Z11 ） 和 LiDAR ( 广播码为 1HDDG8M00100191 ) 为例，使用的具体命令如下 :
|
||||
2. 如果 [param] 参数为 LiDAR 的广播码，以 LiDAR（ 广播码为 0TFDG3B006H2Z11 ） 和 LiDAR ( 广播码为 1HDDG8M00100191 ) 为例，使用的具体命令如下 :
|
||||
|
||||
```bash
|
||||
roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="0TFDG3B006H2Z11&1HDDG8M00100191"
|
||||
```
|
||||
|
||||
***广播码说明***
|
||||
    ***广播码说明***
|
||||
|
||||
每台览沃 LiDAR 设备拥有一个唯一的广播码。广播码由14位字符长度的序列号和一个额外的字符组成（ 1、2或者 3），一共 15 位字符长度，上述序列号位于 LiDAR 机身外壳的二维码下面（见下图）。广播码被用来指定要连接的 LiDAR 设备，详细组成格式如下：
|
||||
    每台览沃 LiDAR 设备拥有一个唯一的广播码。广播码由14位字符长度的序列号和一个额外的字符组成（ 1、2或者 3），一共 15 位字符长度，上述序列号位于 LiDAR 机身外壳的二维码下面（见下图）。广播码被用来指定要连接的 LiDAR 设备，详细组成格式如下：
|
||||
|
||||
|
||||
    
|
||||
|
||||
***说明：***
|
||||
    ***说明：***
|
||||
|
||||
上图中 X ，在 MID-100_Left/MID-40/Horizon/Tele 产品中对应为 1 ，在 MID-100_Middle 中对应为 2，在MID-100_Right 中对应为 3 。
|
||||
    上图中 X ，在 MID-100_Left/MID-40/Horizon/Tele 产品中对应为 1 ，在 MID-100_Middle 中对应为 2，在MID-100_Right 中对应为 3 。
|
||||
|
||||
## 4. Launch 文件与览沃 ROS 驱动程序内部参数配置说明
|
||||
|
||||
@@ -111,7 +111,7 @@ roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="0TFDG3B006H2Z11&1HD
|
||||
|
||||
### 4.3 览沃 ROS 驱动程序点云数据详细说明
|
||||
|
||||
1、览沃 pointcloud2(PointXYZRTL) 点云格式，详细如下:
|
||||
1. 览沃 pointcloud2(PointXYZRTL) 点云格式，详细如下:
|
||||
|
||||
```c
|
||||
|
||||
@@ -124,7 +124,7 @@ uint8 line # laser number in lidar
|
||||
|
||||
```
|
||||
|
||||
2、览沃自定义数据包格式，详细如下 :
|
||||
2. 览沃自定义数据包格式，详细如下 :
|
||||
|
||||
```c
|
||||
Header header # ROS standard message header
|
||||
@@ -135,7 +135,7 @@ uint8[3] rsvd # Reserved use
|
||||
CustomPoint[] points # Pointcloud data
|
||||
```
|
||||
|
||||
上述自定义数据包中的自定义点云（CustomＰoint）格式 :
|
||||
    上述自定义数据包中的自定义点云（CustomＰoint）格式 :
|
||||
|
||||
```c
|
||||
|
||||
@@ -149,15 +149,15 @@ uint8 line # laser number in lidar
|
||||
|
||||
```
|
||||
|
||||
3、PCL 库中标准 pointcloud2(pcl::PointXYZI) 点云格式 :
|
||||
3. PCL 库中标准 pointcloud2(pcl::PointXYZI) 点云格式 :
|
||||
|
||||
请参考 PCL 库 point_types.hpp 文件中 the pcl::PointXYZI 数据结构。
|
||||
    请参考 PCL 库 point_types.hpp 文件中 the pcl::PointXYZI 数据结构。
|
||||
|
||||
## 5. 配置 LiDAR 参数
|
||||
|
||||
在 "ws_livox/src/livox_ros_driver/config" 路径下, 有两个 json 配置文件，分别为 livox_hub_config.json 和 livox_lidar_config.json 。
|
||||
|
||||
1、直接连接 LiDAR 时，使用 livox_lidar_config.json 来配置 LiDAR 参数，文件内容示例如下：
|
||||
1. 直接连接 LiDAR 时，使用 livox_lidar_config.json 来配置 LiDAR 参数，文件内容示例如下：
|
||||
|
||||
```json
|
||||
{
|
||||
@@ -175,9 +175,9 @@ uint8 line # laser number in lidar
|
||||
}
|
||||
```
|
||||
|
||||
上面 json 文件中各参数属性说明如下表：
|
||||
    上面 json 文件中各参数属性说明如下表：
|
||||
|
||||
LiDAR 配置参数说明
|
||||
<center>LiDAR 配置参数说明</center>
|
||||
|
||||
| 属性 | 类型 | 描述 | 默认值 |
|
||||
| :------------------------- | ------ | ------------------------------------------------------------ | --------------- |
|
||||
@@ -189,16 +189,16 @@ uint8 line # laser number in lidar
|
||||
| imu_rate | 整型 | IMU 传感器数据的推送频率<br>0 -- 关闭 IMU 传感器数据推送<br>1 -- 以 200Hz 频率推送 IMU 传感器数据<br>其他值 -- 未定义，会导致不可预测的行为发生<br>目前只有 Horizon/Tele 支持此选项，MID 序列不支持 | 0 |
|
||||
| extrinsic_parameter_source | 整型 | 是否使能外参自动补偿<br>0 -- 不补偿 LiDAR 外参<br>1 -- 自动补偿 LiDAR 外参<br> | 0 |
|
||||
|
||||
***说明：***
|
||||
    ***说明：***
|
||||
|
||||
连接多个 LiDAR 时，如果要使用外参自动补偿功能，必需先使用 livox viewer 标定好外参并保存到 LiDAR 中；
|
||||
    连接多个 LiDAR 时，如果要使用外参自动补偿功能，必需先使用 livox viewer 标定好外参并保存到 LiDAR 中；
|
||||
|
||||
3、连接中心板时，使用 livox_hub_config.json 来配置中心板和 LiDAR 相关的参数，文件内容示例如下：
|
||||
2. 连接中心板时，使用 livox_hub_config.json 来配置中心板和 LiDAR 相关的参数，文件内容示例如下：
|
||||
|
||||
```json
|
||||
|
||||
{
|
||||
"hub_config": {
|
||||
"hub_config": {
|
||||
"broadcast_code": "13UUG1R00400170",
|
||||
"enable_connect": true,
|
||||
"coordinate": 0
|
||||
@@ -214,9 +214,9 @@ uint8 line # laser number in lidar
|
||||
}
|
||||
```
|
||||
|
||||
中心板 json 配置文件内容与 LiDAR 配置文件的主要区别在于，增加了中心板配置项 hub_config ，中心板相关的具体配置内容见下表：
|
||||
    中心板 json 配置文件内容与 LiDAR 配置文件的主要区别在于，增加了中心板配置项 hub_config ，中心板相关的具体配置内容见下表：
|
||||
|
||||
HUB 配置参数说明
|
||||
<center>HUB 配置参数说明</center>
|
||||
|
||||
| 属性 | 类型 | 描述 | 默认值 |
|
||||
| -------------- | ------ | ------------------------------------------------------------ | --------------- |
|
||||
@@ -224,11 +224,11 @@ uint8 line # laser number in lidar
|
||||
| enable_connect | 布尔值 | 是否连接当前 Hub，<br>true -- 连接此 Hub，意味着所有与此中心板相连接的 LiDAR 数据都会被接收 <br>false -- 禁止连接此 Hub，意味着所有与此中心板相连接的 LiDAR 数据都不会被接收 | false |
|
||||
| coordinate | 整型 | 原始点云数据的坐标轴类型<br>0 -- 直角坐标系<br>1 -- 球坐标系 | 0 |
|
||||
|
||||
***说明***
|
||||
    ***说明***
|
||||
|
||||
（1）中心板配置项 hub_config 中配置参数 enable_connect 和 coordinate 是全局性的，控制着所有 LiDAR 的行为，因此中心板 json 配置文件中 LiDAR 相关的配置不包括这两项内容。
|
||||
    （1）中心板配置项 hub_config 中配置参数 enable_connect 和 coordinate 是全局性的，控制着所有 LiDAR 的行为，因此中心板 json 配置文件中 LiDAR 相关的配置不包括这两项内容。
|
||||
|
||||
（2）中心板自身支持补偿 LiDAR 外参，无需览沃 ROS 驱动程序来补偿。
|
||||
    （2）中心板自身支持补偿 LiDAR 外参，无需览沃 ROS 驱动程序来补偿。
|
||||
|
||||
## 6. 览沃 ROS 驱动程序的时间戳同步功能
|
||||
|
||||
@@ -238,21 +238,21 @@ uint8 line # laser number in lidar
|
||||
|
||||
[时间戳同步](https://github.com/Livox-SDK/Livox-SDK/wiki/Timestamp-Synchronization)
|
||||
|
||||
***说明***
|
||||
    ***说明***
|
||||
|
||||
（1）览沃 ROS 驱动程序的时间戳同步功能是基于 Livox-SDK 的 LidarSetUtcSyncTime 接口实现，且只支持 GPS 同步，是览沃设备多种同步方式的一种；
|
||||
    （1）览沃 ROS 驱动程序的时间戳同步功能是基于 Livox-SDK 的 LidarSetUtcSyncTime 接口实现，且只支持 GPS 同步，是览沃设备多种同步方式的一种；
|
||||
|
||||
（2）务必将 GPS 的 GPRMC/GNRMC 时间信息的输出频率设置为 1Hz，其他频率不推荐；
|
||||
    （2）务必将 GPS 的 GPRMC/GNRMC 时间信息的输出频率设置为 1Hz，其他频率不推荐；
|
||||
|
||||
（3）GPRMC/GNRMC 格式字符串示例如下：
|
||||
    （3）GPRMC/GNRMC 格式字符串示例如下：
|
||||
|
||||
```bash
|
||||
|
||||
$GNRMC,143909.00,A,5107.0020216,N,11402.3294835,W,0.036,348.3,210307,0.0,E,A*31
|
||||
$GNRMC,021225.00,A,3016.60101,N,12007.84214,E,0.011,,260420,,,A*67
|
||||
$GPRMC,010101.130,A,3606.6834,N,12021.7778,E,0.0,238.3,010807,,,A*6C
|
||||
$GPRMC,092927.000,A,2235.9058,N,11400.0518,E,0.000,74.11,151216,,D*49
|
||||
$GPRMC,190430,A,4812.3038,S,07330.7690,W,3.7,3.8,090210,13.7,E,D*26
|
||||
$GNRMC,143909.00,A,5107.0020216,N,11402.3294835,W,0.036,348.3,210307,0.0,E,A*31
|
||||
$GNRMC,021225.00,A,3016.60101,N,12007.84214,E,0.011,,260420,,,A*67
|
||||
$GPRMC,010101.130,A,3606.6834,N,12021.7778,E,0.0,238.3,010807,,,A*6C
|
||||
$GPRMC,092927.000,A,2235.9058,N,11400.0518,E,0.000,74.11,151216,,D*49
|
||||
$GPRMC,190430,A,4812.3038,S,07330.7690,W,3.7,3.8,090210,13.7,E,D*26
|
||||
|
||||
```
|
||||
|
||||
@@ -260,7 +260,8 @@ $GPRMC,190430,A,4812.3038,S,07330.7690,W,3.7,3.8,090210,13.7,E,D*26
|
||||
|
||||
览沃 ROS 驱动程序只有在与 LiDAR 连接的时候才支持时间戳同步功能，时间戳相关的配置项 timesync_config 位于 livox_lidar_config.json 文件中，详细的配置内容见下表：
|
||||
|
||||
时间戳同步功能配置说明
|
||||
<center>时间戳同步功能配置说明</center>
|
||||
|
||||
| 属性 | 类型 | 描述 | 默认值 |
|
||||
| ---------------- | ------ | ------------------------------------------------------------ | -------------- |
|
||||
| enable_timesync | 布尔值 | 是否使能时间戳同步功能<br>true -- 使能时间戳同步功能<br>false -- 禁止时间戳同步功能 | false |
|
||||
@@ -273,6 +274,13 @@ $GPRMC,190430,A,4812.3038,S,07330.7690,W,3.7,3.8,090210,13.7,E,D*26
|
||||
|
||||
览沃 ROS 驱动程序支持 lvx 点云数据文件转换为 rosbag 文件，具体命令如下：
|
||||
|
||||
`roslaunch livox_ros_driver lvx_to_rosbag.launch lvx_file_path:="/home/livox/test.lvx"`
|
||||
`roslaunch livox_ros_driver lvx_to_rosbag.launch lvx_file_path:="/home/livox/test.lvx"`
|
||||
|
||||
替换如上命令中的 "/home/livox/test.lvx" 为本地 lvx 数据文件路径后，直接运行即可；如果转换成功，将会在上述路径下产生同名 rosbag 格式点云数据文件。
|
||||
|
||||
## 8. 支持
|
||||
|
||||
你可以通过以下方式获取 Livox 的技术支持 :
|
||||
|
||||
* 发送邮件到 dev@livoxtech.com ，详细描述您遇到的问题和使用场景
|
||||
* 提交此代码仓的 github issues
|
||||
|
||||
Reference in New Issue
Block a user