feat:support Tele

Livox-SDK · Jun 17, 2020 · 8d887a8 · 8d887a8
1 parent 38b9079
commit 8d887a8
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Showing 21 changed files with 300 additions and 154 deletions.
diff --git a/livox_ros_driver/config/display_hub_points.rviz b/livox_ros_driver/config/display_hub_points.rviz
@@ -9,8 +9,8 @@ Panels:
         - /Grid1
         - /PointCloud1/Autocompute Value Bounds1
         - /PointCloud21
-      Splitter Ratio: 0.500694990158081
-    Tree Height: 728
+      Splitter Ratio: 0.500695
+    Tree Height: 680
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -19,7 +19,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
+    Splitter Ratio: 0.588679
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -30,10 +30,6 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: PointCloud2
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -43,7 +39,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.029999999329447746
+        Line Width: 0.03
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -58,8 +54,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 0.8560000061988831
-        Min Value: -0.7350000143051147
+        Max Value: 0.856
+        Min Value: -0.735
         Value: true
       Axis: Z
       Channel Name: x
@@ -70,15 +66,15 @@ Visualization Manager:
       Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: -0.08799999952316284
+      Max Intensity: -0.088
       Min Color: 0; 0; 0
-      Min Intensity: -1.9509999752044678
+      Min Intensity: -1.951
       Name: PointCloud
       Position Transformer: XYZ
       Queue Size: 1000
       Selectable: true
       Size (Pixels): 2
-      Size (m): 0.004999999888241291
+      Size (m): 0.005
       Style: Flat Squares
       Topic: /livox/lidar
       Unreliable: false
@@ -88,8 +84,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 0.8159999847412109
-        Min Value: -0.6740000247955322
+        Max Value: 0.816
+        Min Value: -0.674
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -108,7 +104,7 @@ Visualization Manager:
       Queue Size: 10
       Selectable: true
       Size (Pixels): 2
-      Size (m): 0.004999999888241291
+      Size (m): 0.005
       Style: Points
       Topic: /livox/lidar
       Unreliable: false
@@ -118,7 +114,6 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Default Light: true
     Fixed Frame: livox_frame
     Frame Rate: 50
   Name: root
@@ -130,10 +125,7 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -143,53 +135,47 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 29.202434539794922
+      Distance: 5.292
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
+        Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.2672550082206726
-        Y: 0.061853598803281784
-        Z: 0.15087400376796722
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
+        X: 0.267255
+        Y: 0.0618536
+        Z: 0.150874
       Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.679796040058136
+      Near Clip Distance: 0.01
+      Pitch: 0.209796
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.0174102783203125
+      Yaw: 3.21241
     Saved:
       - Class: rviz/Orbit
         Distance: 10
         Enable Stereo Rendering:
-          Stereo Eye Separation: 0.05999999865889549
+          Stereo Eye Separation: 0.06
           Stereo Focal Distance: 1
           Swap Stereo Eyes: false
           Value: false
         Focal Point:
           X: 0
           Y: 0
           Z: 0
-        Focal Shape Fixed Size: true
-        Focal Shape Size: 0.05000000074505806
-        Invert Z Axis: false
         Name: Orbit
-        Near Clip Distance: 0.009999999776482582
-        Pitch: 1.1103999614715576
+        Near Clip Distance: 0.01
+        Pitch: 1.1104
         Target Frame: <Fixed Frame>
         Value: Orbit (rviz)
-        Yaw: 0.5703970193862915
+        Yaw: 0.570397
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1025
+  Height: 961
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001a900000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000058e0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001a900000337fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000337000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000058e0000033700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -199,5 +185,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1853
-  X: 67
-  Y: 27
+  X: 124
+  Y: 81
diff --git a/livox_ros_driver/config/livox_lidar_config.json b/livox_ros_driver/config/livox_lidar_config.json
@@ -6,17 +6,19 @@
             "enable_fan": true,
             "return_mode": 0,
             "coordinate": 0,
-            "imu_rate": 1,
-            "extrinsic_parameter_source": 0
+            "imu_rate": 0,
+            "extrinsic_parameter_source": 0,
+            "enable_high_sensitivity": false
         },
         {
             "broadcast_code": "0TFDG3U99101431",
             "enable_connect": false,
             "enable_fan": true,
             "return_mode": 0,
             "coordinate": 0,
-            "imu_rate": 1,
-            "extrinsic_parameter_source": 0
+            "imu_rate": 0,
+            "extrinsic_parameter_source": 0,
+            "enable_high_sensitivity": false
         }
     ],
 

diff --git a/livox_ros_driver/launch/livox_hub.launch b/livox_ros_driver/launch/livox_hub.launch
@@ -10,6 +10,7 @@
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -19,6 +20,7 @@
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

diff --git a/livox_ros_driver/launch/livox_hub_msg.launch b/livox_ros_driver/launch/livox_hub_msg.launch
@@ -10,6 +10,7 @@
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -19,6 +20,7 @@
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

diff --git a/livox_ros_driver/launch/livox_hub_rviz.launch b/livox_ros_driver/launch/livox_hub_rviz.launch
@@ -10,6 +10,7 @@
 	<arg name="rviz_enable" default="true"/>
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -19,6 +20,7 @@
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
+    <param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
 
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"

diff --git a/livox_ros_driver/launch/livox_lidar.launch b/livox_ros_driver/launch/livox_lidar.launch
@@ -10,6 +10,7 @@
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -19,7 +20,8 @@
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
-
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"
 	      output="screen" args="$(arg cmdline_arg)"/>

diff --git a/livox_ros_driver/launch/livox_lidar_msg.launch b/livox_ros_driver/launch/livox_lidar_msg.launch
@@ -10,6 +10,7 @@
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -19,7 +20,8 @@
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
-
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"
 	      output="screen" args="$(arg cmdline_arg)"/>

diff --git a/livox_ros_driver/launch/livox_lidar_rviz.launch b/livox_ros_driver/launch/livox_lidar_rviz.launch
@@ -10,6 +10,7 @@
 	<arg name="rviz_enable" default="true"/>
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -18,8 +19,9 @@
 	<param name="output_data_type" value="$(arg output_type)"/>
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
-	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
-
+	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>	
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"
 	      output="screen" args="$(arg cmdline_arg)"/>

diff --git a/livox_ros_driver/launch/livox_template.launch b/livox_ros_driver/launch/livox_template.launch
@@ -10,6 +10,7 @@
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -19,8 +20,9 @@
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
 	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
 
-	<node name="livox_lidar_publisher" pkg="livox_coat"
+	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"
 	      output="screen" args="$(arg cmdline_arg)"/>
 

diff --git a/livox_ros_driver/launch/lvx_to_rosbag.launch b/livox_ros_driver/launch/lvx_to_rosbag.launch
@@ -10,6 +10,7 @@
 	<arg name="rviz_enable" default="false"/>
 	<arg name="rosbag_enable" default="false"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -18,7 +19,9 @@
 	<param name="output_data_type" value="$(arg output_type)"/>
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
-
+	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"
 	      output="screen" args="$(arg cmdline_arg)"/>

diff --git a/livox_ros_driver/launch/lvx_to_rosbag_rviz.launch b/livox_ros_driver/launch/lvx_to_rosbag_rviz.launch
@@ -10,6 +10,7 @@
 	<arg name="rviz_enable" default="true"/>
 	<arg name="rosbag_enable" default="true"/>
 	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
 
 	<param name="xfer_format" value="$(arg xfer_format)"/>
 	<param name="multi_topic" value="$(arg multi_topic)"/>
@@ -18,7 +19,9 @@
 	<param name="output_data_type" value="$(arg output_type)"/>
 	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
 	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
-
+	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+
 	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
 	      type="livox_ros_driver_node" required="true"
 	      output="screen" args="$(arg cmdline_arg)"/>

diff --git a/livox_ros_driver/livox_ros_driver/include/livox_ros_driver.h b/livox_ros_driver/livox_ros_driver/include/livox_ros_driver.h
@@ -26,8 +26,8 @@
 #define LIVOX_ROS_DRIVER_INClUDE_LIVOX_ROS_DRIVER_H_
 
 #define LIVOX_ROS_DRIVER_VER_MAJOR 2
-#define LIVOX_ROS_DRIVER_VER_MINOR 0
-#define LIVOX_ROS_DRIVER_VER_PATCH 1
+#define LIVOX_ROS_DRIVER_VER_MINOR 5
+#define LIVOX_ROS_DRIVER_VER_PATCH 0
 
 #define GET_STRING(n) GET_STRING_DIRECT(n)
 #define GET_STRING_DIRECT(n) #n