1.驱动程序的主入口是livox_ros_driver_node.cpp文件,该文件创建了LivoxRosDriver类的实例,并调用其run方法启动驱动程序。run方法中的关键操作是初始化ROS节点、设置参数、创建LivoxHub对象、注册回调函数、连接Livox雷达设备、处理回调数据、发布ROS消息等。 2. LivoxRosDriver类的定义在livox_ros_driver.cpp和livox_...
3. Run livox_ros2_driver 3.1 Use the ROS2 launch file to load livox_ros2_driver Before using the launch file to load livox_ros2_driver, first enter the directory where the launch file is located, the command is as follows: cd ./src/livox_ros2_driver/launch ...
2.1 Clone Livox ROS Driver 2 source code: git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2 Note : Be sure to clone the source code in a '[work_space]/src/' folder (as shown above), otherwise compilation errors will occur due to the compi...
| xfer_format | 设置点云格式0 -- 览沃 pointcloud2(PointXYZRTL) 点云格式1 -- 览沃自定义点云数据格式2 -- PCL库中标准 pointcloud2(pcl::PointXYZI) 点云格式 | 0 | 配置文件 livox_lidar_rviz.launch 1 脚本参数说明livox_lidar_config.json 1 默认不用改 2 enable_connect 参数 配置文件中指定...
PCL 库中标准 pointcloud2(pcl::PointXYZI) 点云格式 : 请参考 PCL 库 point_types.hpp 文件中 the pcl::PointXYZI 数据结构。 5. 配置 LiDAR 参数 在"ws_livox/src/livox_ros_driver/config" 路径下, 有两个 json 配置文件,分别为 livox_hub_config.json 和 livox_lidar_config.json...
PCL 库中标准 pointcloud2(pcl::PointXYZI) 点云格式 : 请参考 PCL 库 point_types.hpp 文件中 the pcl::PointXYZI 数据结构。 5. 配置 LiDAR 参数 在"ws_livox/src/livox_ros_driver/config" 路径下, 有两个 json 配置文件,分别为 livox_hub_config.json 和 livox_lidar_config.jso...
I downloaded Livox-SDK 2 and livox_ros_driver 2. when running logger from Livox-SDK 2, it works. But when trying to launch msg_MID360_launch.py and rviz_MID360_launch.py an error occurs. I'm using ROS 2 humble. Output at startup msg_MID360_launch.py: ...
<name>livox_ros_driver2</name> <version>1.0.0</version> <description>The ROS device driver for Livox 3D LiDARs, for ROS2</description> <maintainer email="dev@livoxtech.com">feng</maintainer> <license>MIT</license> <buildtool_depend>ament_cmake_auto</buildtool_depend> <build_depend>rosid...
PCL 库中标准 pointcloud2(pcl::PointXYZI) 点云格式 : 请参考 PCL 库 point_types.hpp 文件中 the pcl::PointXYZI 数据结构。 5. 配置 LiDAR 参数 在"ws_livox/src/livox_ros_driver/config" 路径下, 有两个 json 配置文件,分别为 livox_hub_config.json 和 livox_lidar_config.jso...
Hi , I seen you given support to mid-360 using livox_ros_driver, but livox mid-360 , only can run with livox_ros_driver2. I know in the experimental phase it was using livox_ros_driver and livox SDK , but from a while I think , not sure ...