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https://github.com/Livox-SDK/livox_ros_driver.git
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51 lines
2.2 KiB
Markdown
51 lines
2.2 KiB
Markdown
# Livox ROS Driver
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### Run 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. 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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