Multiple lidars in different frames about livox_ros_driver2

[zymouse]

#85
Problem solved, test passed

[KimHyung]

1.IP settings
I used the Livoxviewer to set each lidar to have a different IP.

• lidar1 : HAP, 192.168.1.100
• lidar2 : HAP, 192.168.1.101
• HostPC : 192.168.1.5

2.change config file
{
"lidar_summary_info" : {
"lidar_type": 8
},
"HAP": {
"lidar_net_info" : {
"cmd_data_port": 56000,
"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",
"cmd_data_port": 56000,
"push_msg_ip": "",
"push_msg_port": 0,
"point_data_ip": "192.168.1.5",
"point_data_port": 57000,
"imu_data_ip" : "192.168.1.5",
"imu_data_port": 58000,
"log_data_ip" : "",
"log_data_port": 59000
}
},
"HAP": {
"lidar_net_info" : {
"cmd_data_port": 56000,
"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",
"cmd_data_port": 56000,
"push_msg_ip": "",
"push_msg_port": 0,
"point_data_ip": "192.168.1.5",
"point_data_port": 57000,
"imu_data_ip" : "192.168.1.5",
"imu_data_port": 58000,
"log_data_ip" : "",
"log_data_port": 59000
}
},
"lidar_configs" : [
{
"ip" : "192.168.1.100",
"pcl_data_type" : 1,
"pattern_mode" : 0,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
},
{
"ip" : "192.168.1.101",
"pcl_data_type" : 1,
"pattern_mode" : 0,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
}
]
}

3. changed the multi_topic parameter "1"

[halejo-as]

Thanks for answer.

The configuration you pointed was done, the problem is in the launch file, i would want to specify differents frames here.

I create two nodes to execute two drivers passing as parameters the respective file, but the result only show one point cloud in the topic.

[JanRBoth]

I have the same problem with two HAP's.

I also start two nodes for the respective HAPs. Multi_topic parameter is set to 1, IP's are different, Config file was adjusted as described here.

However, it seems that the first starting node goes through the config file and publishes both listed there.

In fact, two topics or pointclouds are published for me as well. But both with the same frame_id, which is not wanted although in the start launch file different frame_id parameters are passed.

In the driver code it seems that the frame_id is set as parameter but for all created publishers, so the parameter is always overwritten. Actually the option multi_topic should distinguish between different frame_id's, like it is done with the names of the topics.

If someone has a solution or I am wrong I would be very grateful.

[xiaoxueshengyao]

#85 Problem solved, test passed

Thanks for your work, it works for me.