update LICENSE

update support email to cs@livoxtech.com

LICENSE.txt

@@ -46,497 +46,6 @@ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 ===============================================================
-LIVOX’s Livox SDK uses unmodified libraries of Apache Portable Runtime Library (APR)(https://github.com/apache/apr), which is licensed under Apache license. A copy of the Apache license is provided below and is also available at https://raw.githubusercontent.com/apache/apr/trunk/LICENSE.
-
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-From strings/apr_fnmatch.c, include/apr_fnmatch.h, misc/unix/getopt.c,
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-From network_io/unix/inet_ntop.c, network_io/unix/inet_pton.c:
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-From strings/apr_strnatcmp.c, include/apr_strings.h:
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-For the passwd\apr_md5.c component:
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- * This is work is derived from material Copyright RSA Data Security, Inc.
- *
- * The RSA copyright statement and Licence for that original material is
- * included below. This is followed by the Apache copyright statement and
- * licence for the modifications made to that material.
-
-   Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
-   rights reserved.
-
-   License to copy and use this software is granted provided that it
-   is identified as the "RSA Data Security, Inc. MD5 Message-Digest
-   Algorithm" in all material mentioning or referencing this software
-   or this function.
-
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- * The apr_md5_encode() routine uses much code obtained from the FreeBSD 3.0
- * MD5 crypt() function, which is licenced as follows:
- * ----------------------------------------------------------------------------
- * "THE BEER-WARE LICENSE" (Revision 42):
- * <phk@login.dknet.dk> wrote this file.  As long as you retain this notice you
- * can do whatever you want with this stuff. If we meet some day, and you think
- * this stuff is worth it, you can buy me a beer in return.  Poul-Henning Kamp
- * ----------------------------------------------------------------------------
-
-For the crypto\apr_md4.c component:
-
- * Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
- * rights reserved.
- *
- * License to copy and use this software is granted provided that it
- * is identified as the "RSA Data Security, Inc. MD4 Message-Digest
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- * that such works are identified as "derived from the RSA Data
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- * mentioning or referencing the derived work.
- *
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- * the merchantability of this software or the suitability of this
- * software for any particular purpose. It is provided "as is"
- * without express or implied warranty of any kind.
- *
- * These notices must be retained in any copies of any part of this
- * documentation and/or software.
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-For the crypto\crypt_blowfish.c(.h) component:
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- * No copyright is claimed, and the software is hereby placed in the public
- * domain.  In case this attempt to disclaim copyright and place the software
- * in the public domain is deemed null and void, then the software is
- * Copyright (c) 1998-2011 Solar Designer and it is hereby released to the
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- *
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- *
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-
- See crypto/crypt_blowfish.c for more information.
-
-For the include\apr_md4.h component:
-
- * This is derived from material copyright RSA Data Security, Inc.
- * Their notice is reproduced below in its entirety.
- *
- * Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
- * rights reserved.
- *
- * License to copy and use this software is granted provided that it
- * is identified as the "RSA Data Security, Inc. MD4 Message-Digest
- * Algorithm" in all material mentioning or referencing this software
- * or this function.
- *
- * License is also granted to make and use derivative works provided
- * that such works are identified as "derived from the RSA Data
- * Security, Inc. MD4 Message-Digest Algorithm" in all material
- * mentioning or referencing the derived work.
- *
- * RSA Data Security, Inc. makes no representations concerning either
- * the merchantability of this software or the suitability of this
- * software for any particular purpose. It is provided "as is"
- * without express or implied warranty of any kind.
- *
- * These notices must be retained in any copies of any part of this
- * documentation and/or software.
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-For the test\testmd4.c component:
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- * This is derived from material copyright RSA Data Security, Inc.
- * Their notice is reproduced below in its entirety.
- *
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- * software for any particular purpose. It is provided "as is"
- * without express or implied warranty of any kind.
- *
- * These notices must be retained in any copies of any part of this
- * documentation and/or software.
-===============================================================
 LIVOX’s Livox SDK uses unmodified libraries of Boost (https://www.boost.org), which is licensed under the Boost Software license. A copy of the Boost Software license is provided below and is also available at https://www.boost.org/LICENSE_1_0.txt.
 
 -------------------------------------------------------------

README.md

@@ -180,7 +180,7 @@ 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>
+LiDAR configuration parameter
 | 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 |
@@ -215,7 +215,7 @@ 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>
+HUB configuration parameter
 | 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 |
@@ -256,7 +256,7 @@ $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>
+Timestamp synchronization function configuration instructions
 | Parameter        | Type     | Description                                                  | Default        |
 | ---------------- | -------- | ------------------------------------------------------------ | -------------- |
 | enable_timesync  | Boolean  | Whether to enable the timestamp synchronization <br>true -- Enable timestamp synchronization<br>false -- Disable timestamp synchronization | false          |
@@ -283,5 +283,5 @@ After replacing "/home/livox/test.lvx" in the above command with the local lvx d
 
 You can get support from Livox with the following methods :
 
-* Send email to dev@livoxtech.com with a clear description of your problem and your setup
+* Send email to cs@livoxtech.com with a clear description of your problem and your setup
 * Report issue on github

README_CN.md

@@ -186,7 +186,7 @@ uint8 line              # laser number in lidar
 
     上面 json 文件中各参数属性说明如下表：
 
-<center>LiDAR 配置参数说明</center>
+LiDAR 配置参数说明
 | 属性                       | 类型   | 描述                                                         | 默认值          |
 | :------------------------- | ------ | ------------------------------------------------------------ | --------------- |
 | broadcast_code             | 字符串 | LiDAR 广播码，15位字符，由14位字符长度序列号加一个字符长度附加码组成 | 0TFDG3B006H2Z11 |
@@ -222,7 +222,7 @@ uint8 line              # laser number in lidar
 
 &ensp;&ensp;&ensp;&ensp;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：
 
-<center>HUB 配置参数说明</center>
+HUB 配置参数说明
 | 属性           | 类型   | 描述                                                         | 默认值          |
 | -------------- | ------ | ------------------------------------------------------------ | --------------- |
 | broadcast_code | 字符串 | HUB 广播码，15位字符，由14位字符长度的序列号加一个字符长度的附加码组成 | 13UUG1R00400170 |
@@ -265,7 +265,7 @@ uint8 line              # laser number in lidar
 
 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：
 
-<center>时间戳同步功能配置说明</center>
+时间戳同步功能配置说明
 | 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          |
@@ -292,5 +292,5 @@ uint8 line              # laser number in lidar
 
 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
+* 发送邮件到 cs@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

livox_ros_driver/CMakeLists.txt

@@ -212,12 +212,12 @@ install(TARGETS ${PROJECT_NAME}_node
 	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 	)
 
-install(DIRECTORY launch/
+install(DIRECTORY
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  launch
+  config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 	)
 
 #---------------------------------------------------------------------------------------
 # end of CMakeList.txt
 #---------------------------------------------------------------------------------------
-
-

livox_ros_driver/launch/livox_hub.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_hub_msg.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_hub_rviz.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_lidar.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_lidar_msg.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_lidar_rviz.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>	
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 	
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/livox_template.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/lvx_to_rosbag.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="false"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 	
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/launch/lvx_to_rosbag_rviz.launch

@@ -11,6 +11,8 @@
 	<arg name="rosbag_enable" default="true"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
 	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -21,6 +23,8 @@
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
 	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

livox_ros_driver/livox_ros_driver/lddc.cpp

@@ -43,13 +43,15 @@ namespace livox_ros {
 
 /** Lidar Data Distribute Control--------------------------------------------*/
 Lddc::Lddc(int format, int multi_topic, int data_src, int output_type,
-           double frq, std::string &frame_id)
+    double frq, std::string &frame_id, bool lidar_bag, bool imu_bag)
     : transfer_format_(format),
       use_multi_topic_(multi_topic),
       data_src_(data_src),
       output_type_(output_type),
       publish_frq_(frq),
-      frame_id_(frame_id) {
+      frame_id_(frame_id),
+      enable_lidar_bag_(lidar_bag),
+      enable_imu_bag_(imu_bag) {
   publish_period_ns_ = kNsPerSecond / publish_frq_;
   lds_ = nullptr;
   memset(private_pub_, 0, sizeof(private_pub_));
@@ -239,7 +241,7 @@ uint32_t Lddc::PublishPointcloud2(LidarDataQueue *queue, uint32_t packet_num,
   if (kOutputToRos == output_type_) {
     p_publisher->publish(cloud);
   } else {
-    if (bag_) {
+    if (bag_ && enable_lidar_bag_) {
       bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
           cloud);
     }
@@ -340,7 +342,7 @@ uint32_t Lddc::PublishPointcloudData(LidarDataQueue *queue, uint32_t packet_num,
   if (kOutputToRos == output_type_) {
     p_publisher->publish(cloud);
   } else {
-    if (bag_) {
+    if (bag_ && enable_lidar_bag_) {
       bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
           cloud);
     }
@@ -464,7 +466,7 @@ uint32_t Lddc::PublishCustomPointcloud(LidarDataQueue *queue,
   if (kOutputToRos == output_type_) {
     p_publisher->publish(livox_msg);
   } else {
-    if (bag_) {
+    if (bag_ && enable_lidar_bag_) {
       bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
           livox_msg);
     }
@@ -513,7 +515,7 @@ uint32_t Lddc::PublishImuData(LidarDataQueue *queue, uint32_t packet_num,
   if (kOutputToRos == output_type_) {
     p_publisher->publish(imu_data);
   } else {
-    if (bag_) {
+    if (bag_ && enable_imu_bag_) {
       bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
           imu_data);
     }
@@ -592,9 +594,10 @@ ros::Publisher *Lddc::GetCurrentPublisher(uint8_t handle) {
 
   if (use_multi_topic_) {
     pub = &private_pub_[handle];
+    queue_size = queue_size * 2; // queue size is 64 for only one lidar
   } else {
     pub = &global_pub_;
-    queue_size = queue_size * 8;
+    queue_size = queue_size * 8; // shared queue size is 256, for all lidars
   }
 
   if (*pub == nullptr) {
@@ -640,9 +643,10 @@ ros::Publisher *Lddc::GetCurrentImuPublisher(uint8_t handle) {
 
   if (use_multi_topic_) {
     pub = &private_imu_pub_[handle];
+    queue_size = queue_size * 2; // queue size is 64 for only one lidar
   } else {
     pub = &global_imu_pub_;
-    queue_size = queue_size * 4;
+    queue_size = queue_size * 8; // shared queue size is 256, for all lidars
   }
 
   if (*pub == nullptr) {

livox_ros_driver/livox_ros_driver/lddc.h

@@ -47,7 +47,7 @@ typedef enum {
 class Lddc {
  public:
   Lddc(int format, int multi_topic, int data_src, int output_type, double frq,
-       std::string &frame_id);
+      std::string &frame_id, bool lidar_bag, bool imu_bag);
   ~Lddc();
 
   int RegisterLds(Lds *lds);
@@ -94,6 +94,8 @@ class Lddc {
   double publish_frq_;
   uint32_t publish_period_ns_;
   std::string frame_id_;
+  bool enable_lidar_bag_;
+  bool enable_imu_bag_;
   ros::Publisher *private_pub_[kMaxSourceLidar];
   ros::Publisher *global_pub_;
   ros::Publisher *private_imu_pub_[kMaxSourceLidar];

livox_ros_driver/livox_ros_driver/lds.cpp

@@ -43,6 +43,59 @@ bool IsFilePathValid(const char *path_str) {
   }
 }
 
+/** Replace nonstardard function "timegm" with mktime.
+ *  For a portable version of timegm, set the TZ environment variable to UTC,
+ *  call mktime and restore the value of TZ.
+ *  "localtime" and "timegm" are nonstandard GNU extensions that are also present
+ *  on the BSDs. Avoid their use!!!
+ */
+time_t replace_timegm(struct tm *tm) {
+  time_t ret;
+  char *tz;
+
+  tz = getenv("TZ");
+  setenv("TZ", "", 1);
+  tzset();
+  ret = mktime(tm);
+
+  if (tz)
+    setenv("TZ", tz, 1);
+  else
+    unsetenv("TZ");
+  tzset();
+
+  return ret;
+}
+
+uint64_t RawLdsStampToNs(LdsStamp &timestamp, uint8_t timestamp_type) {
+  if (timestamp_type == kTimestampTypePps) {
+    return timestamp.stamp;
+  } else if (timestamp_type == kTimestampTypeNoSync) {
+    return timestamp.stamp;
+  } else if (timestamp_type == kTimestampTypePtp) {
+    return timestamp.stamp;
+  } else if (timestamp_type == kTimestampTypePpsGps) {
+    struct tm time_utc;
+    time_utc.tm_isdst = 0;
+    time_utc.tm_year = timestamp.stamp_bytes[0] + 100;  // map 2000 to 1990
+    time_utc.tm_mon = timestamp.stamp_bytes[1] - 1;     // map 1~12 to 0~11
+    time_utc.tm_mday = timestamp.stamp_bytes[2];
+    time_utc.tm_hour = timestamp.stamp_bytes[3];
+    time_utc.tm_min = 0;
+    time_utc.tm_sec = 0;
+
+    // uint64_t time_epoch = mktime(&time_utc);
+    uint64_t time_epoch = timegm(&time_utc);  // no timezone
+    time_epoch = time_epoch * 1000000 + timestamp.stamp_word.high;  // to us
+    time_epoch = time_epoch * 1000;                                 // to ns
+
+    return time_epoch;
+  } else {
+    printf("Timestamp type[%d] invalid.\n", timestamp_type);
+    return 0;
+  }
+}
+
 uint64_t GetStoragePacketTimestamp(StoragePacket *packet, uint8_t data_src) {
   LivoxEthPacket *raw_packet =
       reinterpret_cast<LivoxEthPacket *>(packet->raw_data);
@@ -86,6 +139,7 @@ uint32_t CalculatePacketQueueSize(uint32_t interval_ms, uint8_t product_type,
   uint32_t queue_size =
       (interval_ms * GetPacketNumPerSec(product_type, data_type)) / 1000;
 
+  queue_size = queue_size * 2;
   if (queue_size < kMinEthPacketQueueSize) {
     queue_size = kMinEthPacketQueueSize;
   } else if (queue_size > kMaxEthPacketQueueSize) {
@@ -588,19 +642,21 @@ uint8_t Lds::GetDeviceType(uint8_t handle) {
   }
 }
 
-void Lds::UpdateLidarInfoByEthPacket(LidarDevice *p_lidar, \
+void Lds::UpdateLidarInfoByEthPacket(LidarDevice *p_lidar,
     LivoxEthPacket* eth_packet) {
   if (p_lidar->raw_data_type != eth_packet->data_type) {
     p_lidar->raw_data_type = eth_packet->data_type;
-    p_lidar->packet_interval = GetPacketInterval(p_lidar->info.type, \
+    p_lidar->packet_interval = GetPacketInterval(p_lidar->info.type,
         eth_packet->data_type);
+    p_lidar->timestamp_type = eth_packet->timestamp_type;
     p_lidar->packet_interval_max = p_lidar->packet_interval * 1.8f;
-    p_lidar->onetime_publish_packets = \
+    p_lidar->onetime_publish_packets =
-        GetPacketNumPerSec(p_lidar->info.type, \
+        GetPacketNumPerSec(p_lidar->info.type,
         p_lidar->raw_data_type) * buffer_time_ms_ / 1000;
-    printf("DataType[%d] PacketInterval[%d] PublishPackets[%d]\n", \
+    printf("Lidar[%d][%s] DataType[%d] timestamp_type[%d] PacketInterval[%d] "
-        p_lidar->raw_data_type, p_lidar->packet_interval, \
+        "PublishPackets[%d]\n", p_lidar->handle, p_lidar->info.broadcast_code,
-        p_lidar->onetime_publish_packets);
+        p_lidar->raw_data_type, p_lidar->timestamp_type,
+        p_lidar->packet_interval, p_lidar->onetime_publish_packets);
   }
 }
 
@@ -608,8 +664,15 @@ void Lds::StorageRawPacket(uint8_t handle, LivoxEthPacket* eth_packet) {
   LidarDevice *p_lidar = &lidars_[handle];
   LidarPacketStatistic *packet_statistic = &p_lidar->statistic_info;
   LdsStamp cur_timestamp;
+  uint64_t timestamp;
+
   memcpy(cur_timestamp.stamp_bytes, eth_packet->timestamp,
          sizeof(cur_timestamp));
+  timestamp = RawLdsStampToNs(cur_timestamp, eth_packet->timestamp_type);
+  if (timestamp >= kRosTimeMax) {
+    printf("Raw EthPacket time out of range Lidar[%d]\n", handle);
+    return;
+  }
 
   if (kImu != eth_packet->data_type) {
     UpdateLidarInfoByEthPacket(p_lidar, eth_packet);
@@ -629,15 +692,14 @@ void Lds::StorageRawPacket(uint8_t handle, LivoxEthPacket* eth_packet) {
     if (nullptr == p_queue->storage_packet) {
       uint32_t queue_size = CalculatePacketQueueSize(
           buffer_time_ms_, p_lidar->info.type, eth_packet->data_type);
-      queue_size = queue_size * 8; /* 8 multiple the min size */
       InitQueue(p_queue, queue_size);
-      printf("Lidar%02d[%s] queue size : %d %d\n", p_lidar->handle,
+      printf("Lidar[%d][%s] storage queue size : %d %d\n", p_lidar->handle,
              p_lidar->info.broadcast_code, queue_size, p_queue->size);
     }
     if (!QueueIsFull(p_queue)) {
-      QueuePushAny(p_queue, (uint8_t *)eth_packet, \
+      QueuePushAny(p_queue, (uint8_t *)eth_packet,
-          GetEthPacketLen(eth_packet->data_type), \
+          GetEthPacketLen(eth_packet->data_type),
-          packet_statistic->timebase, \
+          packet_statistic->timebase,
           GetPointsPerPacket(eth_packet->data_type));
       if (QueueUsedSize(p_queue) > p_lidar->onetime_publish_packets) {
         if (semaphore_.GetCount() <= 0) {
@@ -662,13 +724,13 @@ void Lds::StorageRawPacket(uint8_t handle, LivoxEthPacket* eth_packet) {
     if (nullptr == p_queue->storage_packet) {
       uint32_t queue_size = 256;  /* fixed imu data queue size */
       InitQueue(p_queue, queue_size);
-      printf("Lidar%02d[%s] imu queue size : %d %d\n", p_lidar->handle,
+      printf("Lidar[%d][%s] imu storage queue size : %d %d\n", p_lidar->handle,
              p_lidar->info.broadcast_code, queue_size, p_queue->size);
     }
     if (!QueueIsFull(p_queue)) {
-      QueuePushAny(p_queue, (uint8_t *)eth_packet, \
+      QueuePushAny(p_queue, (uint8_t *)eth_packet,
-          GetEthPacketLen(eth_packet->data_type),\
+          GetEthPacketLen(eth_packet->data_type),
-          packet_statistic->imu_timebase, \
+          packet_statistic->imu_timebase,
           GetPointsPerPacket(eth_packet->data_type));
     }
   }

livox_ros_driver/livox_ros_driver/lds.h

@@ -48,7 +48,7 @@ const uint32_t kMaxSourceLidar = 32;
 /** Eth packet relative info parama */
 const uint32_t kMaxPointPerEthPacket = 100;
 const uint32_t kMinEthPacketQueueSize = 32;   /**< must be 2^n */
-const uint32_t kMaxEthPacketQueueSize = 8192; /**< must be 2^n */
+const uint32_t kMaxEthPacketQueueSize = 131072; /**< must be 2^n */
 const uint32_t kImuEthPacketQueueSize = 256;
 
 const uint32_t KEthPacketHeaderLength = 18; /**< (sizeof(LivoxEthPacket) - 1) */
@@ -56,6 +56,7 @@ const uint32_t KEthPacketHeaderLength = 18; /**< (sizeof(LivoxEthPacket) - 1) */
 const uint32_t KCartesianPointSize = 13;
 const uint32_t KSphericalPointSzie = 9;
 
+const uint64_t kRosTimeMax = 4294967296000000000; /**< 2^32 * 1000000000ns */
 const int64_t kPacketTimeGap = 1000000; /**< 1ms = 1000000ns */
 /**< the threshold of packet continuous */
 const int64_t kMaxPacketTimeGap = 1700000;
@@ -171,9 +172,10 @@ typedef struct {
 typedef struct {
   uint8_t handle;                    /**< Lidar access handle. */
   uint8_t data_src;                  /**< From raw lidar or livox file. */
-  uint8_t raw_data_type;             /**< The data type in eth packaet */
+  uint8_t raw_data_type;             /**< The data type in eth packaet. */
   bool data_is_pubulished;           /**< Indicate the data of lidar whether is
                                           pubulished. */
+  uint32_t timestamp_type;           /**< timestamp type of the current eth packet. */
   volatile uint32_t packet_interval; /**< The time interval between packets
                                         of current lidar, unit:ns */
   volatile uint32_t packet_interval_max; /**< If more than it,
@@ -262,6 +264,8 @@ const ProductTypePointInfoPair product_type_info_pair_table[kMaxProductType] = {
  * Global function for general use.
  */
 bool IsFilePathValid(const char *path_str);
+time_t replace_timegm(struct tm *tm);
+uint64_t RawLdsStampToNs(LdsStamp &timestamp, uint8_t timestamp_type);
 uint64_t GetStoragePacketTimestamp(StoragePacket *packet, uint8_t data_src);
 uint32_t CalculatePacketQueueSize(uint32_t interval_ms, uint8_t product_type,
                                   uint8_t data_type);

livox_ros_driver/livox_ros_driver/lds_lvx.cpp

@@ -120,11 +120,6 @@ int LdsLvx::InitLdsLvx(const char *lvx_path) {
     p_extrinsic->trans[2] = lvx_dev_info.z;
     EulerAnglesToRotationMatrix(p_extrinsic->euler, p_extrinsic->rotation);
     p_extrinsic->enable = lvx_dev_info.extrinsic_enable;
-
-    uint32_t queue_size = kMaxEthPacketQueueSize * 16;
-    InitQueue(&lidars_[handle].data, queue_size);
-    queue_size = kMaxEthPacketQueueSize;
-    InitQueue(&lidars_[handle].imu_data, queue_size);
   }
 
   t_read_lvx_ =
@@ -166,6 +161,19 @@ void LdsLvx::ReadLvxFile() {
         }
 
         data_type = eth_packet->data_type;
+        if (handle >= lvx_file_->GetDeviceCount()) {
+          printf("Raw data handle error, error handle is %d\n", handle);
+          break;
+        }
+        if (data_type >= kMaxPointDataType) {
+          printf("Raw data type error, error data_type is %d\n", data_type);
+          break;
+        }
+        if (eth_packet->version != 5) {
+          printf("EthPacket version[%d] not supported\n", eth_packet->version);
+          break;
+        }
+        
         /** Packet length + device index */
         data_offset += (GetEthPacketLen(data_type) + 1);
         StorageRawPacket(handle, eth_packet);

livox_ros_driver/livox_ros_driver/livox_ros_driver.cpp

@@ -26,6 +26,7 @@
 
 #include <chrono>
 #include <vector>
+#include <csignal>
 
 #include <ros/ros.h>
 #include "lddc.h"
@@ -38,9 +39,13 @@ using namespace livox_ros;
 
 const int32_t kSdkVersionMajorLimit = 2;
 
-int main(int argc, char **argv) {
+inline void SignalHandler(int signum) {
-  ROS_INFO("Livox Ros Driver Version: %s", LIVOX_ROS_DRIVER_VERSION_STRING);
+  printf("livox ros driver will exit\r\n");
+  ros::shutdown();
+  exit(signum);
+}
 
+int main(int argc, char **argv) {
   /** Ros related */
   if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME,
                                      ros::console::levels::Debug)) {
@@ -49,6 +54,8 @@ int main(int argc, char **argv) {
   ros::init(argc, argv, "livox_lidar_publisher");
   ros::NodeHandle livox_node;
 
+  ROS_INFO("Livox Ros Driver Version: %s", LIVOX_ROS_DRIVER_VERSION_STRING);
+  signal(SIGINT, SignalHandler);
   /** Check sdk version */
   LivoxSdkVersion _sdkversion;
   GetLivoxSdkVersion(&_sdkversion);
@@ -65,6 +72,8 @@ int main(int argc, char **argv) {
   double publish_freq  = 10.0; /* Hz */
   int output_type      = kOutputToRos;
   std::string frame_id = "livox_frame";
+  bool lidar_bag = true;
+  bool imu_bag   = false;
 
   livox_node.getParam("xfer_format", xfer_format);
   livox_node.getParam("multi_topic", multi_topic);
@@ -72,17 +81,19 @@ int main(int argc, char **argv) {
   livox_node.getParam("publish_freq", publish_freq);
   livox_node.getParam("output_data_type", output_type);
   livox_node.getParam("frame_id", frame_id);
+  livox_node.getParam("enable_lidar_bag", lidar_bag);
+  livox_node.getParam("enable_imu_bag", imu_bag);
   if (publish_freq > 100.0) {
     publish_freq = 100.0;
-  } else if (publish_freq < 1.0) {
+  } else if (publish_freq < 0.1) {
-    publish_freq = 1.0;
+    publish_freq = 0.1;
   } else {
     publish_freq = publish_freq;
   }
 
   /** Lidar data distribute control and lidar data source set */
   Lddc *lddc = new Lddc(xfer_format, multi_topic, data_src, output_type,
-                        publish_freq, frame_id);
+                        publish_freq, frame_id, lidar_bag, imu_bag);
   lddc->SetRosNode(&livox_node);
 
   int ret = 0;

livox_ros_driver/timesync/timesync.cpp

@@ -27,6 +27,7 @@
 #include <stdint.h>
 #include <string.h>
 #include <chrono>
+#include <cstdio>
 #include <functional>
 #include <thread>
 
@@ -98,7 +99,7 @@ void TimeSync::StopTimesync() {
     t_poll_state_ = nullptr;
   }
 
-  if (t_poll_state_) {
+  if (t_poll_data_) {
     t_poll_data_->join();
     t_poll_data_ = nullptr;
   }
@@ -139,8 +140,12 @@ void TimeSync::PollDataLoop() {
           CommPacket packet;
           memset(&packet, 0, sizeof(packet));
           while ((kParseSuccess == comm_->ParseCommStream(&packet))) {
-            if ((fn_cb_ != nullptr) || (client_data_ != nullptr)) {
+            if (((fn_cb_ != nullptr) || (client_data_ != nullptr))) {
+              if ((strstr((const char *)packet.data, "$GPRMC")) ||
+                      (strstr((const char *)packet.data , "$GNRMC"))){
                 fn_cb_((const char *)packet.data, packet.data_len, client_data_);
+                printf("RMC data parse success!.\n");
+              }
             }
           }
         }