mirror of
https://github.com/Livox-SDK/livox_ros_driver.git
synced 2023-04-06 15:49:55 +08:00
70 lines
1.7 KiB
Markdown
70 lines
1.7 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:
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1. Publish pointcloud2 format point cloud and automatically load rviz.
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for example:
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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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or
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```
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roslaunch livox_ros_driver livox_hub_rviz.launch bd_list:="hub_broadcast_code"
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```
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2. Publish pointcloud2 format point cloud only.
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for example:
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```
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roslaunch livox_ros_driver livox_lidar.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
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```
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or
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```
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roslaunch livox_ros_driver livox_hub.launch bd_list:="hub_broadcast_code"
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```
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3. Publish livox custom format point cloud.
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for example:
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```
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roslaunch livox_ros_driver livox_lidar_msg.launch bd_list:="broadcast_code1&broadcast_code2&broadcast_code3"
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```
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or
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```
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roslaunch livox_ros_driver livox_hub_msg.launch bd_list:="hub_broadcast_code"
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```
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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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