atefrice / livox_ros_driver2

Livox device driver under Ros, support Lidar HAP.

Livox ROS Driver 2

Livox ROS Driver 2 is the 2nd-generation driver package used to connect LiDAR products produced by Livox.

Notes

Livox ROS Driver 2 of current version support only ROS1 (noetic recommended), and it can be run with ROS2 in the near future.

1. Prepare to install Livox ROS Driver 2

1.1 Prerequisites

• OS: Ubuntu 18.04/20.04
• ROS: Noetic Ninjemys (ROS2 would be supported in the near future)

1.2 Install ROS

For ROS Noetic installation, please refer to: ROS Noetic installation instructions

Desktop-Full installation is recommend.

2. Build & run Livox ROS Driver 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

2. Build & install the dedicated Livox SDK:

cd ws_livox/src/livox_ros_driver2
sudo ./dedicated_sdk/build.sh ROS1

3. Build the Livox ROS Driver 2 (take Noetic as example):

source /opt/ros/noetic/setup.sh
./build.sh ROS1

4. Run Livox ROS Driver 2:

source ../../devel/setup.sh
roslaunch livox_ros_driver2 [launch file]

in which,

• livox_ros_driver2: the ROS package name of Livox ROS Driver 2;
• [launch file]: the ROS launch file in the 'launch_ROS1' folder, containing the launch info and config about the target LiDAR(s);

A rviz launch example for HAP LiDAR would be:

roslaunch livox_ros_driver2 livox_lidar_rviz_HAP.launch

3. LiDAR config

LiDAR Configurations (such as ip, port, data type... etc.) can be set via a json-style config file. The parameter naming 'user_config_path' in launch files indicates such json file path.

Follow is a configuration example for HAP LiDAR(located in config_ROS1/HAP_config.json):

{
	"lidar_summary_info" : {
		"lidar_type": 8   # protocol type index, please don't revise this value
	},
	"HAP": {
		"device_type" : "HAP",
		"lidar_ipaddr": "",
		"lidar_net_info" : {
			"cmd_data_port": 56000,     # command port
			"push_msg_port": 0,
			"point_data_port": 57000,
			"imu_data_port": 58000,
			"log_data_port": 59000
		},
		"host_net_info" : {
			"cmd_data_ip" : "192.168.1.5",   # host ip
			"cmd_data_port": 56000,
			"push_msg_ip": "",
			"push_msg_port": 0,
			"point_data_ip": "192.168.1.5",  # host ip
			"point_data_port": 57000,
			"imu_data_ip" : "192.168.1.5",   # host ip
			"imu_data_port": 58000,
			"log_data_ip" : "",
			"log_data_port": 59000
		}
	},
	"lidar_configs" : [
		{
			"ip" : "192.168.1.100",  # ip of the LiDAR you want to config
			"pcl_data_type" : 1,
			"pattern_mode" : 0,
			"blind_spot_set" : 50,
			"extrinsic_parameter" : {
				"roll": 0.0,
				"pitch": 0.0,
				"yaw": 0.0,
				"x": 0,
				"y": 0,
				"z": 0
			}
		}
	]
}

For more infomation about the HAP config, please refer to: HAP Config File Description

4. Supported LiDAR list

• HAP
• (more types are comming soon...)

5. FAQ

5.1 launch with "livox_lidar_rviz_HAP.launch" but no point cloud display on the grid?

Please check the "Global Options - Fixed Frame" field in the RViz "Display" pannel. Set the field value to "livox_frame" and check the "PointCloud2" option in the pannel.