hku-mars雷达相机时间同步方案-软件驱动

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LIV_handhold-main.zip 大约有283个文件

LIV_handhold-main/
LIV_handhold-main/LICENSE 34.33KB
LIV_handhold-main/README.md 8.48KB
LIV_handhold-main/handhold_cad/
LIV_handhold-main/handhold_cad/AVIA.SLDASM 2.45MB
LIV_handhold-main/handhold_cad/DJI_manifold2.SLDPRT 239.96KB
LIV_handhold-main/handhold_cad/FL2-020-R0.SLDPRT 713.31KB
LIV_handhold-main/handhold_cad/LIVO.SLDASM 2.98MB
LIV_handhold-main/handhold_cad/POWER.SLDPRT 77.79KB
LIV_handhold-main/handhold_cad/T_cam_livox.SLDPRT 184.45KB
LIV_handhold-main/handhold_cad/fix.SLDPRT 211.05KB
LIV_handhold-main/handhold_cad/fix_imu.SLDPRT 176.87KB
LIV_handhold-main/handhold_cad/handhold.SLDPRT 484.76KB
LIV_handhold-main/handhold_cad/main_livox.SLDPRT 151.89KB
LIV_handhold-main/handhold_cad/screen.SLDPRT 70.64KB
LIV_handhold-main/livox_ros_driver/
LIV_handhold-main/livox_ros_driver/CMakeLists.txt 7.2KB
LIV_handhold-main/livox_ros_driver/cmake/
LIV_handhold-main/livox_ros_driver/cmake/version.cmake 991B
LIV_handhold-main/livox_ros_driver/common/
LIV_handhold-main/livox_ros_driver/common/FastCRC/
LIV_handhold-main/livox_ros_driver/common/FastCRC/FastCRC.h 2.45KB
LIV_handhold-main/livox_ros_driver/common/FastCRC/FastCRC_tables.hpp 13.28KB
LIV_handhold-main/livox_ros_driver/common/FastCRC/FastCRCsw.cpp 4.64KB
LIV_handhold-main/livox_ros_driver/common/FastCRC/LICENSE.md 1.07KB
LIV_handhold-main/livox_ros_driver/common/FastCRC/README.md 1.55KB
LIV_handhold-main/livox_ros_driver/common/comm/
LIV_handhold-main/livox_ros_driver/common/comm/comm_device.h 1.96KB
LIV_handhold-main/livox_ros_driver/common/comm/comm_protocol.cpp 6.17KB
LIV_handhold-main/livox_ros_driver/common/comm/comm_protocol.h 2.94KB
LIV_handhold-main/livox_ros_driver/common/comm/gps_protocol.cpp 3.74KB
LIV_handhold-main/livox_ros_driver/common/comm/gps_protocol.h 2.27KB
LIV_handhold-main/livox_ros_driver/common/comm/protocol.h 3.02KB
LIV_handhold-main/livox_ros_driver/common/comm/sdk_protocol.cpp 4.31KB
LIV_handhold-main/livox_ros_driver/common/comm/sdk_protocol.h 2.43KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/
LIV_handhold-main/livox_ros_driver/common/rapidjson/allocators.h 10.19KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/cursorstreamwrapper.h 2.18KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/document.h 115.2KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/encodedstream.h 10.38KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/encodings.h 29.13KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/error/
LIV_handhold-main/livox_ros_driver/common/rapidjson/error/en.h 3.65KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/error/error.h 6.32KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/filereadstream.h 2.89KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/filewritestream.h 3KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/fwd.h 4.02KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/biginteger.h 8.1KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/clzll.h 1.99KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/diyfp.h 11.12KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/dtoa.h 7.54KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/ieee754.h 2.92KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/itoa.h 9.05KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/meta.h 6.57KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/pow10.h 3.86KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/regex.h 22.69KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/stack.h 6.65KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/strfunc.h 2.13KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/strtod.h 8.45KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/internal/swap.h 1.39KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/istreamwrapper.h 4.02KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/memorybuffer.h 2.51KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/memorystream.h 2.61KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/msinttypes/
LIV_handhold-main/livox_ros_driver/common/rapidjson/msinttypes/inttypes.h 7.64KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/msinttypes/stdint.h 8.94KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/ostreamwrapper.h 2.29KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/pointer.h 58.82KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/prettywriter.h 10.01KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/rapidjson.h 23.72KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/reader.h 87.2KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/schema.h 98.89KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/stream.h 6.54KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/stringbuffer.h 3.89KB
LIV_handhold-main/livox_ros_driver/common/rapidjson/writer.h 25.56KB
LIV_handhold-main/livox_ros_driver/common/rapidxml/
LIV_handhold-main/livox_ros_driver/common/rapidxml/rapidxml.hpp 96.68KB
LIV_handhold-main/livox_ros_driver/common/rapidxml/rapidxml_iterators.hpp 2.94KB
LIV_handhold-main/livox_ros_driver/common/rapidxml/rapidxml_print.hpp 12.61KB
LIV_handhold-main/livox_ros_driver/common/rapidxml/rapidxml_utils.hpp 2.76KB
LIV_handhold-main/livox_ros_driver/config/
LIV_handhold-main/livox_ros_driver/config/display_hub_points.rviz 5.69KB
LIV_handhold-main/livox_ros_driver/config/display_lidar_points.rviz 5.52KB
LIV_handhold-main/livox_ros_driver/config/livox_hub_config.json 664B
LIV_handhold-main/livox_ros_driver/config/livox_lidar_config.json 786B
LIV_handhold-main/livox_ros_driver/launch/
LIV_handhold-main/livox_ros_driver/launch/livox_hub.launch 1.78KB
LIV_handhold-main/livox_ros_driver/launch/livox_hub_msg.launch 1.78KB
LIV_handhold-main/livox_ros_driver/launch/livox_hub_rviz.launch 1.78KB
LIV_handhold-main/livox_ros_driver/launch/livox_lidar.launch 1.79KB
LIV_handhold-main/livox_ros_driver/launch/livox_lidar_msg.launch 1.79KB
LIV_handhold-main/livox_ros_driver/launch/livox_lidar_rviz.launch 1.79KB
LIV_handhold-main/livox_ros_driver/launch/livox_template.launch 1.79KB
LIV_handhold-main/livox_ros_driver/launch/lvx_to_rosbag.launch 1.79KB
LIV_handhold-main/livox_ros_driver/launch/lvx_to_rosbag_rviz.launch 1.78KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/
LIV_handhold-main/livox_ros_driver/livox_ros_driver/include/
LIV_handhold-main/livox_ros_driver/livox_ros_driver/include/livox_ros_driver.h 1.69KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lddc.cpp 24.03KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lddc.h 4.33KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/ldq.cpp 3.63KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/ldq.h 2.78KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lds.cpp 26.07KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lds.h 15.07KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lds_hub.cpp 23.98KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lds_hub.h 4.49KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lds_lidar.cpp 27.02KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lds_lidar.h 4.92KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lds_lvx.cpp 7.63KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lds_lvx.h 2.13KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/livox_ros_driver.cpp 7.05KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lvx_file.cpp 13.31KB
LIV_handhold-main/livox_ros_driver/livox_ros_driver/lvx_file.h 5.67KB
LIV_handhold-main/livox_ros_driver/msg/
LIV_handhold-main/livox_ros_driver/msg/CustomMsg.msg 341B
LIV_handhold-main/livox_ros_driver/msg/CustomPoint.msg 353B
LIV_handhold-main/livox_ros_driver/package.xml 3.33KB
LIV_handhold-main/livox_ros_driver/timesync/
LIV_handhold-main/livox_ros_driver/timesync/timesync.cpp 6.21KB
LIV_handhold-main/livox_ros_driver/timesync/timesync.h 3.01KB
LIV_handhold-main/livox_ros_driver/timesync/user_uart/
LIV_handhold-main/livox_ros_driver/timesync/user_uart/user_uart.cpp 5.12KB
LIV_handhold-main/livox_ros_driver/timesync/user_uart/user_uart.h 2.28KB
LIV_handhold-main/mvs_ros_pkg/
LIV_handhold-main/mvs_ros_pkg/CMakeLists.txt 714B
LIV_handhold-main/mvs_ros_pkg/config/
LIV_handhold-main/mvs_ros_pkg/config/left_camera.yaml 1.44KB
LIV_handhold-main/mvs_ros_pkg/config/left_camera_trigger.yaml 1.42KB
LIV_handhold-main/mvs_ros_pkg/config/rub/
LIV_handhold-main/mvs_ros_pkg/config/rub/kairui.yaml 779B
LIV_handhold-main/mvs_ros_pkg/config/rub/left_camera.yaml 759B
LIV_handhold-main/mvs_ros_pkg/config/rub/right_camera.yaml 633B
LIV_handhold-main/mvs_ros_pkg/config/rub/right_camera_trigger.yaml 646B
LIV_handhold-main/mvs_ros_pkg/data/
LIV_handhold-main/mvs_ros_pkg/data/inc_time 19.07KB
LIV_handhold-main/mvs_ros_pkg/data/plot_inc.m 168B
LIV_handhold-main/mvs_ros_pkg/data/plot_inc.py 257B
LIV_handhold-main/mvs_ros_pkg/include/
LIV_handhold-main/mvs_ros_pkg/include/CameraParams.h 42KB
LIV_handhold-main/mvs_ros_pkg/include/CustomMsg.h 8.15KB
LIV_handhold-main/mvs_ros_pkg/include/CustomPoint.h 6.41KB
LIV_handhold-main/mvs_ros_pkg/include/MvCameraControl.h 195.72KB
LIV_handhold-main/mvs_ros_pkg/include/MvDeviceBase.h 4.55KB
LIV_handhold-main/mvs_ros_pkg/include/MvErrorDefine.h 4.9KB
LIV_handhold-main/mvs_ros_pkg/include/MvGigEDevice.h 8.02KB
LIV_handhold-main/mvs_ros_pkg/include/MvInclude.h 1005B
LIV_handhold-main/mvs_ros_pkg/include/MvUsb3VDevice.h 5.39KB
LIV_handhold-main/mvs_ros_pkg/include/PixelType.h 10.81KB
LIV_handhold-main/mvs_ros_pkg/include/TlFactory.h 3.61KB
LIV_handhold-main/mvs_ros_pkg/include/common.h 7.17KB
LIV_handhold-main/mvs_ros_pkg/launch/
LIV_handhold-main/mvs_ros_pkg/launch/hardtrig.launch 210B
LIV_handhold-main/mvs_ros_pkg/launch/mvs_camera.launch 310B
LIV_handhold-main/mvs_ros_pkg/launch/mvs_camera_trigger.launch 466B
LIV_handhold-main/mvs_ros_pkg/launch/mvs_multiple_camera.launch 503B
LIV_handhold-main/mvs_ros_pkg/launch/mvs_multiple_camera_trigger.launch 537B
LIV_handhold-main/mvs_ros_pkg/launch/parse_topic.launch 421B
LIV_handhold-main/mvs_ros_pkg/launch/parse_type.launch 289B
LIV_handhold-main/mvs_ros_pkg/launch/rolling_camera_trigger.launch 356B
LIV_handhold-main/mvs_ros_pkg/package.xml 3.18KB
LIV_handhold-main/mvs_ros_pkg/rviz_cfg/
LIV_handhold-main/mvs_ros_pkg/rviz_cfg/mvs_camera.rviz 6.16KB
LIV_handhold-main/mvs_ros_pkg/src/
LIV_handhold-main/mvs_ros_pkg/src/.vscode/
LIV_handhold-main/mvs_ros_pkg/src/.vscode/c_cpp_properties.json 540B
LIV_handhold-main/mvs_ros_pkg/src/.vscode/settings.json 172B
LIV_handhold-main/mvs_ros_pkg/src/grab.cpp 8.1KB
LIV_handhold-main/mvs_ros_pkg/src/grab_trigger.cpp 12.77KB
LIV_handhold-main/pics/
LIV_handhold-main/pics/1.gif 11.47MB
LIV_handhold-main/pics/12PIN.jpg 33.48KB
LIV_handhold-main/pics/2.gif 11.4MB
LIV_handhold-main/pics/2.mp4 2.11MB
LIV_handhold-main/pics/485.jpg 28.42KB
LIV_handhold-main/pics/6PIN.jpg 13.81KB
LIV_handhold-main/pics/battery.jpg 77.27KB
LIV_handhold-main/pics/cmos.jpg 17.96KB
LIV_handhold-main/pics/cover.jpg 526.96KB
LIV_handhold-main/pics/len.jpg 22.35KB
LIV_handhold-main/pics/livox_avia.png 195.49KB
LIV_handhold-main/pics/screen.jpg 14.62KB
LIV_handhold-main/pics/stl.jpg 298.53KB
LIV_handhold-main/pics/stm32.jpg 70.75KB
LIV_handhold-main/pics/usb.jpg 25.35KB
LIV_handhold-main/stm32_timersync-open/
LIV_handhold-main/stm32_timersync-open/CORE/
LIV_handhold-main/stm32_timersync-open/CORE/core_cm3.c 16.1KB
LIV_handhold-main/stm32_timersync-open/CORE/core_cm3.h 81.93KB
LIV_handhold-main/stm32_timersync-open/CORE/startup_stm32f10x_hd.s 11.8KB
LIV_handhold-main/stm32_timersync-open/HARDWARE/
LIV_handhold-main/stm32_timersync-open/HARDWARE/KEY/
LIV_handhold-main/stm32_timersync-open/HARDWARE/KEY/key.c 1.15KB
LIV_handhold-main/stm32_timersync-open/HARDWARE/KEY/key.h 1.12KB
LIV_handhold-main/stm32_timersync-open/HARDWARE/LED/
LIV_handhold-main/stm32_timersync-open/HARDWARE/LED/led.c 684B
LIV_handhold-main/stm32_timersync-open/HARDWARE/LED/led.h 616B
LIV_handhold-main/stm32_timersync-open/HARDWARE/TIMER/
LIV_handhold-main/stm32_timersync-open/HARDWARE/TIMER/timer.c 8.04KB
LIV_handhold-main/stm32_timersync-open/HARDWARE/TIMER/timer.h 635B
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/misc.h 8.56KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_adc.h 20.71KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_bkp.h 7.19KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_can.h 26.23KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_cec.h 6.21KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_crc.h 2.02KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_dac.h 14.57KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_dbgmcu.h 3.61KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_dma.h 19.84KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_exti.h 6.48KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_flash.h 24.43KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_fsmc.h 25.67KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_gpio.h 19.33KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_i2c.h 28.66KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_iwdg.h 3.6KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_pwr.h 4.13KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_rcc.h 29.03KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_rtc.h 3.63KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_sdio.h 20.83KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_spi.h 16.83KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_tim.h 50.06KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_usart.h 15.76KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/inc/stm32f10x_wwdg.h 2.78KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/misc.c 6.66KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_adc.c 44.82KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_bkp.c 7.96KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_can.c 42.66KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_cec.c 10.96KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_crc.c 3.11KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_dac.c 18.08KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_dbgmcu.c 4.87KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_dma.c 28.22KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_exti.c 6.53KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_flash.c 59.44KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_fsmc.c 33.81KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_gpio.c 22.04KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_i2c.c 43.41KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_iwdg.c 4.62KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_pwr.c 8.25KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_rcc.c 48.63KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_rtc.c 8.07KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_sdio.c 27.47KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_spi.c 28.63KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_tim.c 103.78KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_usart.c 36.38KB
LIV_handhold-main/stm32_timersync-open/STM32F10x_FWLib/src/stm32f10x_wwdg.c 5.38KB
LIV_handhold-main/stm32_timersync-open/SYSTEM/
LIV_handhold-main/stm32_timersync-open/SYSTEM/delay/
LIV_handhold-main/stm32_timersync-open/SYSTEM/delay/delay.c 7.07KB
LIV_handhold-main/stm32_timersync-open/SYSTEM/delay/delay.h 1.87KB
LIV_handhold-main/stm32_timersync-open/SYSTEM/sys/
LIV_handhold-main/stm32_timersync-open/SYSTEM/sys/sys.c 484B
LIV_handhold-main/stm32_timersync-open/SYSTEM/sys/sys.h 2.67KB
LIV_handhold-main/stm32_timersync-open/SYSTEM/usart/
LIV_handhold-main/stm32_timersync-open/SYSTEM/usart/usart.c 4.47KB
LIV_handhold-main/stm32_timersync-open/SYSTEM/usart/usart.h 1.21KB
LIV_handhold-main/stm32_timersync-open/USER/
LIV_handhold-main/stm32_timersync-open/USER/DebugConfig/
LIV_handhold-main/stm32_timersync-open/USER/DebugConfig/PWM_STM32F103C6_1.0.0.dbgconf 2.35KB
LIV_handhold-main/stm32_timersync-open/USER/DebugConfig/PWM_STM32F103C8_1.0.0.dbgconf 2.35KB
LIV_handhold-main/stm32_timersync-open/USER/DebugConfig/PWM_STM32F103ZE_1.0.0.dbgconf 6.7KB
LIV_handhold-main/stm32_timersync-open/USER/JLinkLog.txt 7.95KB
LIV_handhold-main/stm32_timersync-open/USER/JLinkSettings.ini 636B
LIV_handhold-main/stm32_timersync-open/USER/PWM.uvguix.Administrator 68.19KB
LIV_handhold-main/stm32_timersync-open/USER/PWM.uvguix.Sheng 176.74KB
LIV_handhold-main/stm32_timersync-open/USER/PWM.uvguix.admin 91.82KB
LIV_handhold-main/stm32_timersync-open/USER/PWM.uvguix.lzy 88.74KB
LIV_handhold-main/stm32_timersync-open/USER/PWM.uvguix.theodore 96.17KB
LIV_handhold-main/stm32_timersync-open/USER/PWM.uvoptx 15.4KB
LIV_handhold-main/stm32_timersync-open/USER/PWM.uvprojx 17.54KB
LIV_handhold-main/stm32_timersync-open/USER/PWM50.map 100.38KB
LIV_handhold-main/stm32_timersync-open/USER/main.c 581B
LIV_handhold-main/stm32_timersync-open/USER/startup_stm32f10x_hd.lst 38.74KB
LIV_handhold-main/stm32_timersync-open/USER/stm32f10x.h 610.94KB
LIV_handhold-main/stm32_timersync-open/USER/stm32f10x_conf.h 3.08KB
LIV_handhold-main/stm32_timersync-open/USER/stm32f10x_it.c 2.28KB
LIV_handhold-main/stm32_timersync-open/USER/stm32f10x_it.h 1.89KB
LIV_handhold-main/stm32_timersync-open/USER/system_stm32f10x.c 34.65KB
LIV_handhold-main/stm32_timersync-open/USER/system_stm32f10x.h 1.94KB
LIV_handhold-main/stm32_timersync-open/keilkilll.bat 372B

资源介绍:

hku-mars雷达相机时间同步方案-软件驱动

# [LiDAR_Inertial_Visual_Handhold](https://zhuanlan.zhihu.com/p/670136001) ### News * **`15 July 2024`:** Fix the bug related to LiDAR (IMU) timestamp compensation in the `livox_ros_driver`, remove the dynamic library dependency from `mvs_ros_driver`, and enable this synchronization scheme to use the official `livox_sdk`. * **`28 June 2024`:** Update reproduction videos and some important notes. * **`27 May 2024`:** Fix a bug in the calculation of the synthetic GPRMC timestamp, which could cause timestamp rollback. Additionally, we add checksum verification for GPRMC. * **`20 May 2024`:** According to Livox Avia's pin requirements, we convert PPS TTL level to RS485 level and supplement it with more detailed electronic connection and material list. ## 1. Introduction This repository provides the **CAD files** (with suffix â\*.SLDPRT and \*.SLDASMâ) for our handheld device, which can be opened and edited with [*Solidworks*](https://www.solidworks.com). All of the modules are suitable for printing with [*FDM (Fused Deposition Modeling)*](https://en.wikipedia.org/wiki/Fused_filament_fabrication). In addition, we have also open-sourced our **hardware synchronization scheme**, as well as the **STM32 source code** and **hardware wiring configuration** instructions.

## 2. Relevant guidance video Thanks to the Bilibili uploader [GundaSmart](https://space.bilibili.com/687639149?spm_id_from=333.788.0.0) for making a detailed reproduction video. Everyone can follow the video to reproduce it. His sensor configuration includes a MID360 and a Hikvision pinhole camera. [FAST-LIVO Reproduction (Part 1)](https://www.bilibili.com/video/BV1T142197ci/?share_source=copy_web&vd_source=f77407286e8f0ee71b845d76498ada9d) [FAST-LIVO Reproduction (Part 2)](https://www.bilibili.com/video/BV14T421X7m9/?share_source=copy_web&vd_source=f77407286e8f0ee71b845d76498ada9d) [FAST-LIVO Reproduction (Part 3)](https://www.bilibili.com/video/BV16E42137ru/?share_source=copy_web&vd_source=f77407286e8f0ee71b845d76498ada9d) [FAST-LIVO Reproduction (Part 4)](https://www.bilibili.com/video/BV1Yb421i7xK/?share_source=copy_web&vd_source=f77407286e8f0ee71b845d76498ada9d) [FAST-LIVO Reproduction (Part 5)](https://www.bilibili.com/video/BV1Jz421b7px/?share_source=copy_web&vd_source=f77407286e8f0ee71b845d76498ada9d) ## 3. Guide to installation ### 3.1 Root directory âââ handhold_cad/ - CAD source files â âââ ... âââ livox_ros_driver/ - Livox LiDAR ROS driver â âââ ... âââ mvs_ros_pkg/ - Camera driver â âââ ... âââ stm32_timersync-open/ - Embedded engineering folder â âââ USER/ - Main functionality folder â âââ ... âââ README.md - Project homepage document âââ ... ### 3.2 Assembly instruction The assembly instructions are demonstrated in the GIFs below. Each module is clearly labeled corresponding to the name of its STL file.

### 3.3 Electronic connection The guide for the electronic connections is presented as follows:

Livox AVIA LiDAR M12	Peripheral Function	Diagram
PIN 1	Power: +	AVIA 12-Pin Interface, top: female bottom: male
PIN 2	Ground
PIN 7	Ethernet: RX-
PIN 6	Ethernet: RX+
PIN 5	Ethernet: TX-
PIN 4	Ethernet: TX+
PIN 11 (Sync-)	RS485_Output B-
PIN 12 (Sync+)	RS485_Output A+

MVS Camera 6PIN	Name	I/O Type	Description	Peripheral Function	Diagram
PIN 1	DC_PWR	--	Power Supply		MVS Camera 6-Pin Interface
PIN 2	OPTO_IN	Line 0+	Optical Isolation Input	STM32 PA1
PIN 3	GPIO	Line 2+	General Purpose Input/Output
PIN 4	OPTO_OUT	Line 1+	Optical Isolation Output
PIN 5	OPTO_GND	Line 0- / 1-	Optical Isolation Ground	STM32 GND
PIN 6	GND	Line 2-	Ground

STM32	Peripheral Function
PA1	MVS camera PIN2 (OPTO_IN)
PB5	RS485_Input (TXD)
TXD	TTL2USB (RXD)
VCC	RS485_Input (VCC) \| TTL2USB (VCC)
GND	RS485_Input (GND) \| TTL2USB (GND) \| MVS camera PIN5 (GND)

RS485	Peripheral Function
RS485_Output A+	LiDAR M12 PIN12 (Sync+)
RS485_Output B-	LiDAR M12 PIN11 (Sync-)
RS485_Output (GND)	LiDAR M12 PIN2 (GND)

**ð´ð¥ IMPORTANT:** * **STM32 PB5 (PPS signal) is converted from TTL to RS-485, resulting in RS485_Output A+ and RS485_Output B-;** * **STM32 TXD (GPRMC) is converted from TTL to USB and sent to the PC;** * **If you are using the Mid360, you can directly connect STM32 PB5 to LiDAR M12 pps interface;** * **Before you `roslaunch livox_ros_driver livox_lidar_msg.launch`, you can use `sudo chmod a+rw /dev/ttyUSB0` grant permissions to the USB serial port;** * **The default connection method in this repository directly connects to M12 without using the Livox converter. If you use the converter, you can connect STM32 PB5 (PPS signal) to the Livox converter Sync Port without converting TTL to 485 level. Refer to [Issue 19](https://github.com/sheng00125/LIV_handhold/issues/19) for details.** ## 4. How to run the driver ```bash roslaunch mvs_ros_pkg mvs_camera_trigger.launch roslaunch livox_ros_driver livox_lidar_msg.launch rosbag record /livox/lidar /livox/imu left_camera/image ``` ## 5. Main material lists (only for reference) | Item | Pics | Purchasing list | | :------------: | :------------: | :------------: | | Livox Avia LiDAR |