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feat:support AVIA and Mid-70

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Livox-SDK
2020-10-26 21:10:14 +08:00
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README.md
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@@ -2,6 +2,16 @@
livox_ros_driver is a new ROS package, specially used to connect LiDAR products produced by Livox. The driver can be run under ubuntu 14.04/16.04/18.04 operating system with ROS environment (indigo, kinetic, melodic) installed. Tested hardware platforms that can run livox_ros_driver include: Intel x86 cpu platforms, and some ARM64 hardware platforms (such as nvida TX2 / Xavier, etc.).
## 0. Version and Release History
### 0.1 Current Version
[v2.6.0](https://github.com/Livox-SDK/livox_ros_driver/releases)
### 0.2 Release History
[Release History](https://github.com/Livox-SDK/livox_ros_driver/releases)
## 1. Install dependencies
Before running livox_ros_driver, ROS and Livox-SDK must be installed.
@@ -171,14 +181,12 @@ In the "ws_livox/src/livox_ros_driver/launch" path, there are two json files, li
    The parameter attributes in the above json file are described in the following table :
<center>LiDAR configuration parameter</center>
| Parameter | Type | Description | Default |
| :------------------------- | ------- | ------------------------------------------------------------ | --------------- |
| broadcast_code | String | LiDAR broadcast code, 15 characters, consisting of a 14-character length serial number plus a character-length additional code | 0TFDG3B006H2Z11 |
| enable_connect | Boolean | Whether to connect to this LiDAR<br>true -- Connect this LiDAR<br>false --Do not connect this LiDAR | false |
| enable_fan | Boolean | Whether to automatically control the fan of this LiDAR<br>true -- Automatically control the fan of this LiDAR<br>false -- Does not automatically control the fan of this LiDAR | true |
| return_mode | Int | return mode<br>0 -- First single return mode<br>1 -- Strongest single return mode<br>2 -- Dual return mode | 0 |
| coordinate | Int | Coordinate<br>0 -- Cartesian<br>1 -- Spherical | 0 |
| coordinate | Int | Coordinate<br>0 -- Cartesian<br>1 -- Spherical | 0 |
| 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 |
| 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 |
@@ -198,7 +206,6 @@ In the "ws_livox/src/livox_ros_driver/launch" path, there are two json files, li
"lidar_config": [
{
"broadcast_code": "0TFDG3B006H2Z11",
"enable_fan": true,
"return_mode": 0,
"imu_rate": 1
}
@@ -209,7 +216,6 @@ In the "ws_livox/src/livox_ros_driver/launch" path, there are two json files, li
&ensp;&ensp;&ensp;&ensp;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 :
<center>HUB configuration parameter</center>
| Parameter | Type | Description | Default |
| -------------- | ------- | ------------------------------------------------------------ | --------------- |
| broadcast_code | String | HUB broadcast code, 15 characters, consisting of a 14-character length serial number plus a character-length additional code | 13UUG1R00400170 |
@@ -251,7 +257,6 @@ $GPRMC,190430,A,4812.3038,S,07330.7690,W,3.7,3.8,090210,13.7,E,D*26
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 :
<center>Timestamp synchronization function configuration instructions</center>
| Parameter | Type | Description | Default |
| ---------------- | -------- | ------------------------------------------------------------ | -------------- |
| enable_timesync | Boolean | Whether to enable the timestamp synchronization <br>true -- Enable timestamp synchronization<br>false -- Disable timestamp synchronization | false |