Create LivoxCustomMsgPublisher

Assets/UnitySensorsROS/Runtime/Scripts/Publishers/LiDAR/DepthBufferLiDARLivoxCustomMsgPublisher.cs

@@ -0,0 +1,12 @@
+using UnityEngine;
+using UnitySensors.Data.PointCloud;
+using UnitySensors.Sensor.LiDAR;
+using UnitySensors.ROS.Publisher.PointCloud;
+
+namespace UnitySensors.ROS.Publisher.LiDAR
+{
+    [RequireComponent(typeof(DepthBufferLiDARSensor))]
+    public class DepthBufferLiDARLivoxCustomMsgPublisher : LivoxCustomMsgPublisher<DepthBufferLiDARSensor, PointXYZI>
+    {
+    }
+}

Assets/UnitySensorsROS/Runtime/Scripts/Publishers/LiDAR/RaycastLiDARLivoxCustomMsgPublisher.cs

@@ -0,0 +1,12 @@
+using UnityEngine;
+using UnitySensors.Data.PointCloud;
+using UnitySensors.Sensor.LiDAR;
+using UnitySensors.ROS.Publisher.PointCloud;
+
+namespace UnitySensors.ROS.Publisher.LiDAR
+{
+    [RequireComponent(typeof(RaycastLiDARSensor))]
+    public class RaycastLiDARLivoxCustomMsgPublisher : LivoxCustomMsgPublisher<RaycastLiDARSensor, PointXYZI>
+    {
+    }
+}

Assets/UnitySensorsROS/Runtime/Scripts/Publishers/PointCloud/LivoxCustomMsgPublisher.cs

@@ -0,0 +1,19 @@
+using UnityEngine;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Livox;
+using UnitySensors.Data.PointCloud;
+using UnitySensors.Sensor;
+using UnitySensors.ROS.Serializer.PointCloud;
+
+namespace UnitySensors.ROS.Publisher.PointCloud
+{
+    public class LivoxCustomMsgPublisher<T, TT> : RosMsgPublisher<T,LivoxCustomMsgSerializer<T, TT>, CustomMsgMsg>
+        where T : UnitySensor, IPointCloudInterface<TT>
+        where TT : struct, IPointXYZInterface
+    {
+        private void OnDestroy()
+        {
+            _serializer.Dispose();
+        }
+    }
+}