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).
- 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
For ROS Melodic installation, please refer to: ROS Melodic installation instructions
For ROS Noetic installation, please refer to: ROS Noetic installation instructions
For ROS2 Foxy installation, please refer to: ROS Foxy installation instructions
For ROS2 Humble installation, please refer to: ROS Humble installation instructions
Desktop-Full installation is recommend.
git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2Note :
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.
Note :
Please follow the guidance of installation in the Livox-SDK2/README.md
source /opt/ros/noetic/setup.sh
./build.sh ROS1source /opt/ros/foxy/setup.sh
./build.sh ROS2source /opt/ros/humble/setup.sh
./build.sh humblesource ../../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:
roslaunch livox_ros_driver2 rviz_HAP.launchsource ../../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:
ros2 launch livox_ros_driver2 rviz_HAP_launch.pyLaunch 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 Publish pointcloud2 format data Autoload rviz |
| msg_HAP.launch | Connect to HAP LiDAR device Publish livox customized pointcloud data |
| rviz_MID360.launch | Connect to MID360 LiDAR device Publish pointcloud2 format data Autoload rviz |
| msg_MID360.launch | Connect to MID360 LiDAR device Publish livox customized pointcloud data |
| rviz_mixed.launch | Connect to HAP and MID360 LiDAR device Publish pointcloud2 format data Autoload rviz |
| msg_mixed.launch | Connect to HAP and MID360 LiDAR device Publish livox customized pointcloud data |
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 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 0 -- All LiDAR devices use the same topic to publish pointcloud data 1 -- Each LiDAR device has its own topic to publish point cloud data |
0 |
| xfer_format | Set pointcloud format 0 -- Livox pointcloud2(PointXYZRTLT) pointcloud format 1 -- Livox customized pointcloud format 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.
Livox_ros_driver2 pointcloud data detailed description :
- Livox pointcloud2 (PointXYZRTLT) point cloud format, as follows :
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 pointNote :
The number of points in the frame may be different, but each point provides a timestamp.
- Livox customized data package format, as follows :
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 dataCustomized Point Cloud (CustomPoint) format in the above customized data package :
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- The standard pointcloud2 (pcl :: PointXYZI) format in the PCL library (only ROS can publish):
Please refer to the pcl :: PointXYZI data structure in the point_types.hpp file of the PCL library.
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.
- Follow is a configuration example for HAP LiDAR (located in config/HAP_config.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_data_ip" : "192.168.1.5", # host ip (it can be revised)
"cmd_data_port": 56000,
"push_msg_ip": "",
"push_msg_port": 0,
"point_data_ip": "192.168.1.5", # host ip
"point_data_port": 57000,
"imu_data_ip" : "192.168.1.5", # host ip
"imu_data_port": 58000,
"log_data_ip" : "",
"log_data_port": 59000
}
},
"lidar_configs" : [
{
"ip" : "192.168.1.100", # ip of the LiDAR you want to config
"pcl_data_type" : 1,
"pattern_mode" : 0,
"blind_spot_set" : 50,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
}
]
}The parameter attributes in the above json file are described in the following table :
LiDAR configuration parameter
| Parameter | Type | Description | Default |
|---|---|---|---|
| ip | String | Ip of the LiDAR you want to config | 192.168.1.100 |
| pcl_data_type | Int | Choose the resolution of the point cloud data to send 1 -- Cartesian coordinate data (32 bits) 2 -- Cartesian coordinate data (16 bits) 3 --Spherical coordinate data |
1 |
| pattern_mode | Int | Space scan pattern 0 -- non-repeating scanning pattern mode 1 -- repeating scanning pattern mode 2 -- repeating scanning pattern mode (low scanning rate) |
0 |
| blind_spot_set (Only for HAP LiDAR) | Int | Set blind spot Range from 50 cm to 200 cm |
50 |
| extrinsic_parameter | Set extrinsic parameter The data types of "roll" "picth" "yaw" are float The data types of "x" "y" "z" are int |
For more infomation about the HAP config, please refer to: HAP Config File Description
- When connecting multiple LiDARs, add objects corresponding to different LiDARs to the "lidar_configs" array. Examples of mixed-LiDARs config file contents are as follows :
{
"lidar_summary_info" : {
"lidar_type": 8 # protocol type index, please don't revise this value
},
"HAP": {
"lidar_net_info" : { # HAP ports, please don't revise these values
"cmd_data_port": 56000, # HAP command port
"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", # host ip
"cmd_data_port": 56000,
"push_msg_ip": "",
"push_msg_port": 0,
"point_data_ip": "192.168.1.5", # host ip
"point_data_port": 57000,
"imu_data_ip" : "192.168.1.5", # host ip
"imu_data_port": 58000,
"log_data_ip" : "",
"log_data_port": 59000
}
},
"MID360": {
"lidar_net_info" : { # Mid360 ports, please don't revise these values
"cmd_data_port": 56100, # Mid360 command port
"push_msg_port": 56200,
"point_data_port": 56300,
"imu_data_port": 56400,
"log_data_port": 56500
},
"host_net_info" : {
"cmd_data_ip" : "192.168.1.5", # host ip
"cmd_data_port": 56101,
"push_msg_ip": "192.168.1.5", # host ip
"push_msg_port": 56201,
"point_data_ip": "192.168.1.5", # host ip
"point_data_port": 56301,
"imu_data_ip" : "192.168.1.5", # host ip
"imu_data_port": 56401,
"log_data_ip" : "",
"log_data_port": 56501
}
},
"lidar_configs" : [
{
"ip" : "192.168.1.100", # ip of the HAP you want to config
"pcl_data_type" : 1,
"pattern_mode" : 0,
"blind_spot_set" : 50,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
},
{
"ip" : "192.168.1.12", # ip of the Mid360 you want to config
"pcl_data_type" : 1,
"pattern_mode" : 0,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
}
]
}- HAP
- Mid360
- (more types are comming soon...)
Please check the "Global Options - Fixed Frame" field in the RViz "Display" pannel. Set the field value to "livox_frame" and check the "PointCloud2" option in the pannel.
6.2 launch with command "ros2 launch livox_lidar_rviz_HAP_launch.py" but cannot open shared object file "liblivox_sdk_shared.so" ?
Please add '/usr/local/lib' to the env LD_LIBRARY_PATH.
-
If you want to add to current terminal:
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
-
If you want to add to current user:
vim ~/.bashrc export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib source ~/.bashrc