mirror of
https://github.com/Livox-SDK/livox_ros_driver.git
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77 lines
3.0 KiB
Markdown
77 lines
3.0 KiB
Markdown
# Livox ROS Driver
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livox_ros_driver is a new ros package, which is designed to gradually become the standard driver package for livox devices in the ros environment.
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### Compile & Install Livox SDK
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livox_ros_driver depends on Livox-SDK lib. If you have never installed Livox-SDK lib or it is out of date, you must first install Livox-SDK lib. If you have installed the latest version of Livox-SDK, skip this step and go to the next step.
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1. Download or clone the [Livox-SDK/Livox-SDK](https://github.com/Livox-SDK/Livox-SDK/) repository on GitHub.
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2. Compile and install the Livox-SDK under the ***build*** directory following `README.md` of Livox-SDK/Livox-SDK.
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### Clone livox_ros_driver
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1. Clone livox_ros_driver package for github:
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`git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src`
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2. Build livox_ros_driver package:
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```
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cd ws_livox
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catkin_make
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```
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3. Package environment setup:
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`source ./devel/setup.sh`
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### Run livox ros driver
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The driver offers users a wealth of options when using different launch file. There is *bd_list* arg in each launch file. All Livox LiDAR units in your LAN will be connected automatically in default.
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e.g.
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```
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roslaunch livox_ros_driver livox_lidar_rviz.launch
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```
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If you want to connect to the specific LiDAR uint(s) only, please add the broadcast code into command line.
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e.g.
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```
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roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
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```
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Features of *.launch* files are listed as below:
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| launch file | features |
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| ------------------------- | ------------------------------------------------------------ |
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| *livox_lidar_rviz.launch* | Connect to Livox LiDAR units<br/>Publish pointcloud2 format point cloud<br/>Automatically load rviz |
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| livox_hub_rviz.launch | Connect to Livox Hub units<br/>Publish pointcloud2 format point cloud<br />Automatically load rviz |
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| livox_lidar.launch | Connect to Livox LiDAR units<br />Publish pointcloud2 format point cloud |
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| livox_hub.launch | Connect to Livox Hub units<br />Publish pointcloud2 format point cloud |
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| livox_lidar_msg.launch | Connect to Livox LiDAR units<br />Publish livox custom format point cloud |
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| livox_hub_msg.launch | Connect to Livox Hub units<br />Publish livox custom format point cloud |
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Livox custom msg format：
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```
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Header header # ROS standard message header
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uint64 timebase # The time of first point
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uint32 point_num # Total number of pointclouds
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uint8 lidar_id # Lidar device id number
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uint8[3] rsvd # Reserved use
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CustomPoint[] points # Pointcloud data
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```
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pointcloud format:
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```
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uint32 offset_time # offset time relative to the base time
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float32 x # X axis, unit:m
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float32 y # Y axis, unit:m
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float32 z # Z axis, unit:m
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uint8 reflectivity # reflectivity, 0~255
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uint8 line # laser number in lidar
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```
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