multi livox lidar connection with docker macvlan

Docker based implememtation to use multiple livox lidars simultaneously without livox hub.

• Prerequisites
• Building docker image for different types of lidar
• docker run
• Output

Prerequisites

• ROS noetic/melodic docker image as base image
• https://hub.docker.com/_/ros/
• docker pull ros:noetic

Building docker image for different models like Livox MID360 and Livox Avia

just run the command to build the docker image.
docker built -t mid360 -f Dockerfile . -> mid360 docker image
docker built -t avia -f Dockerfile . -> avia docker image

running the application

Each docker image is configured in docker-compose.yml. Just run docker-compose up to run the containers. You can provide the Entrypoints to start the livox-ros-driver inside the container or just put the commands to run in docker-compose.yml. I prefer to use in docker-compose.yml for easy debugging.

docker-compose up -d
/opt/catking_ws -> to run the livox-ros-driver and publish the output in common ROS_MASTER_URI.

Output

You will get the output in 3rd container which is a bridge between the 2 containers (i used 2 lidars and hence 2 containers respectively). You can mount any host directry and just dump/use the published /livox/lidar or /livox/imu messages here in 3rd container.