ZIPhku-mars 时间同步-MID360驱动修改 2.66MB

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资源文件列表:

livox_ros_driver2.zip 大约有157个文件
  1. livox_ros_driver2/
  2. livox_ros_driver2/package.xml 3.32KB
  3. livox_ros_driver2/.gitignore 37B
  4. livox_ros_driver2/CHANGELOG.md 1.54KB
  5. livox_ros_driver2/CMakeLists.txt 10.71KB
  6. livox_ros_driver2/LICENSE.txt 19.46KB
  7. livox_ros_driver2/README.md 12.83KB
  8. livox_ros_driver2/build.sh 1.6KB
  9. livox_ros_driver2/package_ROS1.xml 3.32KB
  10. livox_ros_driver2/package_ROS2.xml 1.1KB
  11. livox_ros_driver2/.git/
  12. livox_ros_driver2/.git/config 310B
  13. livox_ros_driver2/.git/description 73B
  14. livox_ros_driver2/.git/index 9.55KB
  15. livox_ros_driver2/.git/HEAD 23B
  16. livox_ros_driver2/.git/packed-refs 570B
  17. livox_ros_driver2/.git/info/
  18. livox_ros_driver2/.git/info/exclude 240B
  19. livox_ros_driver2/.git/branches/
  20. livox_ros_driver2/.git/hooks/
  21. livox_ros_driver2/.git/hooks/prepare-commit-msg.sample 1.46KB
  22. livox_ros_driver2/.git/hooks/pre-applypatch.sample 424B
  23. livox_ros_driver2/.git/hooks/update.sample 3.53KB
  24. livox_ros_driver2/.git/hooks/fsmonitor-watchman.sample 3.01KB
  25. livox_ros_driver2/.git/hooks/pre-merge-commit.sample 416B
  26. livox_ros_driver2/.git/hooks/pre-receive.sample 544B
  27. livox_ros_driver2/.git/hooks/pre-rebase.sample 4.78KB
  28. livox_ros_driver2/.git/hooks/applypatch-msg.sample 478B
  29. livox_ros_driver2/.git/hooks/pre-commit.sample 1.6KB
  30. livox_ros_driver2/.git/hooks/pre-push.sample 1.32KB
  31. livox_ros_driver2/.git/hooks/commit-msg.sample 896B
  32. livox_ros_driver2/.git/hooks/post-update.sample 189B
  33. livox_ros_driver2/.git/refs/
  34. livox_ros_driver2/.git/refs/heads/
  35. livox_ros_driver2/.git/refs/heads/master 41B
  36. livox_ros_driver2/.git/refs/tags/
  37. livox_ros_driver2/.git/refs/remotes/
  38. livox_ros_driver2/.git/refs/remotes/origin/
  39. livox_ros_driver2/.git/refs/remotes/origin/HEAD 32B
  40. livox_ros_driver2/.git/objects/
  41. livox_ros_driver2/.git/objects/pack/
  42. livox_ros_driver2/.git/objects/pack/pack-490f3b9ceb677a487c693aeb08474d9595b0ce2f.pack 2.36MB
  43. livox_ros_driver2/.git/objects/pack/pack-490f3b9ceb677a487c693aeb08474d9595b0ce2f.idx 43.68KB
  44. livox_ros_driver2/.git/objects/info/
  45. livox_ros_driver2/.git/logs/
  46. livox_ros_driver2/.git/logs/HEAD 191B
  47. livox_ros_driver2/.git/logs/refs/
  48. livox_ros_driver2/.git/logs/refs/remotes/
  49. livox_ros_driver2/.git/logs/refs/remotes/origin/
  50. livox_ros_driver2/.git/logs/refs/remotes/origin/HEAD 191B
  51. livox_ros_driver2/.git/logs/refs/heads/
  52. livox_ros_driver2/.git/logs/refs/heads/master 191B
  53. livox_ros_driver2/3rdparty/
  54. livox_ros_driver2/3rdparty/rapidjson/
  55. livox_ros_driver2/3rdparty/rapidjson/allocators.h 10.19KB
  56. livox_ros_driver2/3rdparty/rapidjson/cursorstreamwrapper.h 2.18KB
  57. livox_ros_driver2/3rdparty/rapidjson/document.h 115.2KB
  58. livox_ros_driver2/3rdparty/rapidjson/encodedstream.h 10.38KB
  59. livox_ros_driver2/3rdparty/rapidjson/encodings.h 29.13KB
  60. livox_ros_driver2/3rdparty/rapidjson/filereadstream.h 2.89KB
  61. livox_ros_driver2/3rdparty/rapidjson/filewritestream.h 3KB
  62. livox_ros_driver2/3rdparty/rapidjson/fwd.h 4.02KB
  63. livox_ros_driver2/3rdparty/rapidjson/istreamwrapper.h 4.02KB
  64. livox_ros_driver2/3rdparty/rapidjson/license.txt 5.03KB
  65. livox_ros_driver2/3rdparty/rapidjson/memorybuffer.h 2.51KB
  66. livox_ros_driver2/3rdparty/rapidjson/memorystream.h 2.61KB
  67. livox_ros_driver2/3rdparty/rapidjson/ostreamwrapper.h 2.29KB
  68. livox_ros_driver2/3rdparty/rapidjson/pointer.h 58.82KB
  69. livox_ros_driver2/3rdparty/rapidjson/prettywriter.h 10.01KB
  70. livox_ros_driver2/3rdparty/rapidjson/rapidjson.h 23.72KB
  71. livox_ros_driver2/3rdparty/rapidjson/reader.h 87.2KB
  72. livox_ros_driver2/3rdparty/rapidjson/schema.h 98.89KB
  73. livox_ros_driver2/3rdparty/rapidjson/stream.h 6.54KB
  74. livox_ros_driver2/3rdparty/rapidjson/stringbuffer.h 3.89KB
  75. livox_ros_driver2/3rdparty/rapidjson/writer.h 25.56KB
  76. livox_ros_driver2/3rdparty/rapidjson/error/
  77. livox_ros_driver2/3rdparty/rapidjson/error/en.h 3.65KB
  78. livox_ros_driver2/3rdparty/rapidjson/error/error.h 6.32KB
  79. livox_ros_driver2/3rdparty/rapidjson/internal/
  80. livox_ros_driver2/3rdparty/rapidjson/internal/biginteger.h 8.1KB
  81. livox_ros_driver2/3rdparty/rapidjson/internal/clzll.h 1.99KB
  82. livox_ros_driver2/3rdparty/rapidjson/internal/diyfp.h 11.12KB
  83. livox_ros_driver2/3rdparty/rapidjson/internal/dtoa.h 7.54KB
  84. livox_ros_driver2/3rdparty/rapidjson/internal/ieee754.h 2.92KB
  85. livox_ros_driver2/3rdparty/rapidjson/internal/itoa.h 9.05KB
  86. livox_ros_driver2/3rdparty/rapidjson/internal/meta.h 6.57KB
  87. livox_ros_driver2/3rdparty/rapidjson/internal/pow10.h 3.86KB
  88. livox_ros_driver2/3rdparty/rapidjson/internal/regex.h 22.69KB
  89. livox_ros_driver2/3rdparty/rapidjson/internal/stack.h 6.65KB
  90. livox_ros_driver2/3rdparty/rapidjson/internal/strfunc.h 2.13KB
  91. livox_ros_driver2/3rdparty/rapidjson/internal/strtod.h 8.45KB
  92. livox_ros_driver2/3rdparty/rapidjson/internal/swap.h 1.39KB
  93. livox_ros_driver2/3rdparty/rapidjson/msinttypes/
  94. livox_ros_driver2/3rdparty/rapidjson/msinttypes/inttypes.h 7.64KB
  95. livox_ros_driver2/3rdparty/rapidjson/msinttypes/stdint.h 8.94KB
  96. livox_ros_driver2/cmake/
  97. livox_ros_driver2/cmake/version.cmake 990B
  98. livox_ros_driver2/config/
  99. livox_ros_driver2/config/HAP_config.json 863B
  100. livox_ros_driver2/config/MID360_config.json 883B
  101. livox_ros_driver2/config/display_point_cloud_ROS1.rviz 5.52KB
  102. livox_ros_driver2/config/display_point_cloud_ROS2.rviz 4.72KB
  103. livox_ros_driver2/config/mixed_HAP_MID360_config.json 1.63KB
  104. livox_ros_driver2/launch_ROS1/
  105. livox_ros_driver2/launch_ROS1/msg_HAP.launch 1.7KB
  106. livox_ros_driver2/launch_ROS1/msg_MID360.launch 1.7KB
  107. livox_ros_driver2/launch_ROS1/msg_mixed.launch 1.71KB
  108. livox_ros_driver2/launch_ROS1/rviz_HAP.launch 1.88KB
  109. livox_ros_driver2/launch_ROS1/rviz_MID360.launch 1.89KB
  110. livox_ros_driver2/launch_ROS1/rviz_mixed.launch 1.9KB
  111. livox_ros_driver2/launch_ROS2/
  112. livox_ros_driver2/launch_ROS2/msg_HAP_launch.py 1.92KB
  113. livox_ros_driver2/launch_ROS2/msg_MID360_launch.py 1.86KB
  114. livox_ros_driver2/launch_ROS2/rviz_HAP_launch.py 2.13KB
  115. livox_ros_driver2/launch_ROS2/rviz_MID360_launch.py 2.14KB
  116. livox_ros_driver2/launch_ROS2/rviz_mixed.py 2.15KB
  117. livox_ros_driver2/msg/
  118. livox_ros_driver2/msg/CustomMsg.msg 341B
  119. livox_ros_driver2/msg/CustomPoint.msg 353B
  120. livox_ros_driver2/src/
  121. livox_ros_driver2/src/driver_node.cpp 1.45KB
  122. livox_ros_driver2/src/driver_node.h 2.42KB
  123. livox_ros_driver2/src/lddc.cpp 23.52KB
  124. livox_ros_driver2/src/lddc.h 5.83KB
  125. livox_ros_driver2/src/lds.cpp 5.81KB
  126. livox_ros_driver2/src/lds.h 2.63KB
  127. livox_ros_driver2/src/lds_lidar.cpp 6.34KB
  128. livox_ros_driver2/src/lds_lidar.h 2.67KB
  129. livox_ros_driver2/src/livox_ros_driver2.cpp 7.71KB
  130. livox_ros_driver2/src/call_back/
  131. livox_ros_driver2/src/call_back/lidar_common_callback.cpp 2.22KB
  132. livox_ros_driver2/src/call_back/lidar_common_callback.h 1.54KB
  133. livox_ros_driver2/src/call_back/livox_lidar_callback.cpp 15KB
  134. livox_ros_driver2/src/call_back/livox_lidar_callback.h 3.22KB
  135. livox_ros_driver2/src/comm/
  136. livox_ros_driver2/src/comm/cache_index.cpp 3.77KB
  137. livox_ros_driver2/src/comm/cache_index.h 2.01KB
  138. livox_ros_driver2/src/comm/comm.cpp 2.16KB
  139. livox_ros_driver2/src/comm/comm.h 8.38KB
  140. livox_ros_driver2/src/comm/ldq.cpp 4.57KB
  141. livox_ros_driver2/src/comm/ldq.h 2.28KB
  142. livox_ros_driver2/src/comm/lidar_imu_data_queue.cpp 2.2KB
  143. livox_ros_driver2/src/comm/lidar_imu_data_queue.h 2.57KB
  144. livox_ros_driver2/src/comm/pub_handler.cpp 15.74KB
  145. livox_ros_driver2/src/comm/pub_handler.h 4.36KB
  146. livox_ros_driver2/src/comm/semaphore.cpp 1.44KB
  147. livox_ros_driver2/src/comm/semaphore.h 1.58KB
  148. livox_ros_driver2/src/include/
  149. livox_ros_driver2/src/include/livox_ros_driver2.h 1.69KB
  150. livox_ros_driver2/src/include/ros1_headers.h 2.16KB
  151. livox_ros_driver2/src/include/ros2_headers.h 2.42KB
  152. livox_ros_driver2/src/include/ros_headers.h 1.31KB
  153. livox_ros_driver2/src/parse_cfg_file/
  154. livox_ros_driver2/src/parse_cfg_file/parse_cfg_file.cpp 2.33KB
  155. livox_ros_driver2/src/parse_cfg_file/parse_cfg_file.h 1.68KB
  156. livox_ros_driver2/src/parse_cfg_file/parse_livox_lidar_cfg.cpp 5.17KB
  157. livox_ros_driver2/src/parse_cfg_file/parse_livox_lidar_cfg.h 2KB

资源介绍:

hku-mars 时间同步-MID360驱动修改
# Livox ROS Driver 2 Livox ROS Driver 2 is the 2nd-generation driver package used to connect LiDAR products produced by Livox, applicable for ROS (noetic recommended) and ROS2 (foxy or humble recommended). **Note :** As a debugging tool, Livox ROS Driver is not recommended for mass production but limited to test scenarios. You should optimize the code based on the original source to meet your various needs. ## 1. Preparation ### 1.1 OS requirements * Ubuntu 18.04 for ROS Melodic; * Ubuntu 20.04 for ROS Noetic and ROS2 Foxy; * Ubuntu 22.04 for ROS2 Humble; **Tips:** Colcon is a build tool used in ROS2. How to install colcon: [Colcon installation instructions](https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html) ### 1.2 Install ROS & ROS2 For ROS Melodic installation, please refer to: [ROS Melodic installation instructions](https://wiki.ros.org/melodic/Installation) For ROS Noetic installation, please refer to: [ROS Noetic installation instructions](https://wiki.ros.org/noetic/Installation) For ROS2 Foxy installation, please refer to: [ROS Foxy installation instructions](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html) For ROS2 Humble installation, please refer to: [ROS Humble installation instructions](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) Desktop-Full installation is recommend. ## 2. Build & Run Livox ROS Driver 2 ### 2.1 Clone Livox ROS Driver 2 source code: ```shell 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 compilation tool restriction. ### 2.2 Build & install the Livox-SDK2 **Note :** Please follow the guidance of installation in the [Livox-SDK2/README.md](https://github.com/Livox-SDK/Livox-SDK2/blob/master/README.md) ### 2.3 Build the Livox ROS Driver 2: #### For ROS (take Noetic as an example): ```shell source /opt/ros/noetic/setup.sh ./build.sh ROS1 ``` #### For ROS2 Foxy: ```shell source /opt/ros/foxy/setup.sh ./build.sh ROS2 ``` #### For ROS2 Humble: ```shell source /opt/ros/humble/setup.sh ./build.sh humble ``` ### 2.4 Run Livox ROS Driver 2: #### For ROS: ```shell source ../../devel/setup.sh roslaunch livox_ros_driver2 [launch file] ``` in which, * **livox_ros_driver2** : is the ROS package name of Livox ROS Driver 2; * **[launch file]** : is the ROS launch file you want to use; the 'launch_ROS1' folder contains several launch samples for your reference; An rviz launch example for HAP LiDAR would be: ```shell roslaunch livox_ros_driver2 rviz_HAP.launch ``` #### For ROS2: ```shell source ../../install/setup.sh ros2 launch livox_ros_driver2 [launch file] ``` in which, * **[launch file]** : is the ROS2 launch file you want to use; the 'launch_ROS2' folder contains several launch samples for your reference. A rviz launch example for HAP LiDAR would be: ```shell ros2 launch livox_ros_driver2 rviz_HAP_launch.py ``` ## 3. Launch file and livox_ros_driver2 internal parameter configuration instructions ### 3.1 Launch file configuration instructions Launch files of ROS are in the "ws_livox/src/livox_ros_driver2/launch_ROS1" directory and launch files of ROS2 are in the "ws_livox/src/livox_ros_driver2/launch_ROS2" directory. Different launch files have different configuration parameter values and are used in different scenarios: | launch file name | Description | | ------------------------- | ------------------------------------------------------------ | | rviz_HAP.launch | Connect to HAP LiDAR device<br>Publish pointcloud2 format data<br>Autoload rviz | | msg_HAP.launch | Connect to HAP LiDAR device<br>Publish livox customized pointcloud data| | rviz_MID360.launch | Connect to MID360 LiDAR device<br>Publish pointcloud2 format data <br>Autoload rviz| | msg_MID360.launch | Connect to MID360 LiDAR device<br>Publish livox customized pointcloud data | | rviz_mixed.launch | Connect to HAP and MID360 LiDAR device<br>Publish pointcloud2 format data <br>Autoload rviz| | msg_mixed.launch | Connect to HAP and MID360 LiDAR device<br>Publish livox customized pointcloud data | ### 3.2 Livox ros driver 2 internal main parameter configuration instructions All internal parameters of Livox_ros_driver2 are in the launch file. Below are detailed descriptions of the three commonly used parameters : | Parameter | Detailed description | Default | | ------------ | ------------------------------------------------------------ | ------- | | publish_freq | Set the frequency of point cloud publish <br>Floating-point data type, recommended values 5.0, 10.0, 20.0, 50.0, etc. The maximum publish frequency is 100.0 Hz.| 10.0 | | multi_topic | If the LiDAR device has an independent topic to publish pointcloud data<br>0 -- All LiDAR devices use the same topic to publish pointcloud data<br>1 -- Each LiDAR device has its own topic to publish point cloud data | 0 | | xfer_format | Set pointcloud format<br>0 -- Livox pointcloud2(PointXYZRTLT) pointcloud format<br>1 -- Livox customized pointcloud format<br>2 -- Standard pointcloud2 (pcl :: PointXYZI) pointcloud format in the PCL library (just for ROS) | 0 | **Note :** Other parameters not mentioned in this table are not suggested to be changed unless fully understood. &ensp;&ensp;&ensp;&ensp;***Livox_ros_driver2 pointcloud data detailed description :*** 1. Livox pointcloud2 (PointXYZRTLT) point cloud format, as follows : ```c float32 x # X axis, unit:m float32 y # Y axis, unit:m float32 z # Z axis, unit:m float32 intensity # the value is reflectivity, 0.0~255.0 uint8 tag # livox tag uint8 line # laser number in lidar float64 timestamp # Timestamp of point ``` **Note :** The number of points in the frame may be different, but each point provides a timestamp. 2. Livox customized data package format, as follows : ```c std_msgs/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 ``` &ensp;&ensp;&ensp;&ensp;Customized Point Cloud (CustomPoint) format in the above customized data package : ```c 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 tag # livox tag uint8 line # laser number in lidar ``` 3. The standard pointcloud2 (pcl :: PointXYZI) format in the PCL library (only ROS can publish): &ensp;&ensp;&ensp;&ensp;Please refer to the pcl :: PointXYZI data structure in the point_types.hpp file of the PCL library. ## 4. LiDAR config LiDAR Configurations (such as ip, port, data type... etc.) can be set via a json-style config file. Config files for single HAP, Mid360 and mixed-LiDARs are in the "config" folder. The parameter naming *'user_config_path'* in launch files indicates such json file path. 1. Follow is a configuration example for HAP LiDAR (located in config/HAP_config.json): ```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
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