Livox ROS Driver

Run livox ros driver

livox_ros_driver is a new ros package under the Livox-SDK/Livox-SDK-ROS/src directory, 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:

1. Publish pointcloud2 format point cloud and automatically load rviz.

for example:

roslaunch livox_ros_driver livox_lidar_rviz.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"

or

roslaunch livox_ros_driver livox_hub_rviz.launch bd_list:="hub_broadcast_code" 

2. Publish pointcloud2 format point cloud only.

for example:

roslaunch livox_ros_driver livox_lidar.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"

or

roslaunch livox_ros_driver livox_hub.launch bd_list:="hub_broadcast_code"

3. Publish livox custom format point cloud.

for example:

roslaunch livox_ros_driver livox_lidar_msg.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"

or

roslaunch livox_ros_driver livox_hub_msg.launch bd_list:="hub_broadcast_code"

livox custom msg format:

Header header             # ROS standard message header
uint64 timebase           # The time of first point
uint32 point_num          # Total number of pointclouds
uint8  lidar_id           # Lidar device id number
uint8[3]  rsvd            # Reserved use
CustomPoint[] points      # Pointcloud data

pointcloud format:

uint32 offset_time      # offset time relative to the base time
float32 x               # X axis, unit:m
float32 y               # Y axis, unit:m
float32 z               # Z axis, unit:m
uint8 reflectivity      # reflectivity, 0~255
uint8 line              # laser number in lidar