livox_custom_msg_to_point_cloud: A C++ repository from hpoleselo

Livox_CustomMsg to PointCloud2 Converter Node

This package is a fork from the Livox-SDK/livox_mapping to provide just the conversion from Livox CustomMsg to PointCloud messages as a single ROS package.

Installing and Running the Package

Clone this repository to your catkin workspace and build it standalone:

$ catkin_make --only-pkg-with-deps livox_pc_converter

If package isn't findable after catkin make:

$ rospack find livox_pc_converter

Run the package as a launch file:

$ roslaunch livox_pc_converter custom_msg_to_pc2_converter.launch

$ rosrun livox_pc_converter livox_repub

Now CustomMsg should be republished to another topic /livox_pcl0 which has the PointCloud2 message format.

If one desires to visualize the point cloud in RViz:

$ roslaunch livox_ros_driver livox_lidar_rviz.launch

TODO: Modify Later

In the development of our package, we reference to LOAM, LOAM_NOTED.

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

1.2. PCL && Eigen && openCV

Follow PCL Installation. Follow Eigen Installation. Follow openCV Installation.

1.3. livox_ros_driver

Follow livox_ros_driver Installation.

2. Build

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/Livox-SDK/livox_mapping.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

Remarks:

If you want to save the pcd file please add map_file_path in launch file.

3. Directly run

3.1 Livox Mid-40

Connect to your PC to Livox LiDAR (mid40) by following Livox-ros-driver installation, then

    ....
    roslaunch livox_mapping mapping_mid.launch
    roslaunch livox_ros_driver livox_lidar.launch

3.2 Livox Horizon

Connect to your PC to Livox LiDAR (Horizon) by following Livox-ros-driver installation, then

    ....
    roslaunch livox_mapping mapping_horizon.launch
    roslaunch livox_ros_driver livox_lidar_msg.launch

4. Rosbag Example

4.1 Livox Mid-40 rosbag

Download mid40_hall_example or mid40_outdoor and then

roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag

4.2 Livox Mid-100 rosbag

Download mid100_example and then

roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag

4.3 Livox Horizon rosbag

Download horizon_parking or horizon_outdoor and then

roslaunch livox_mapping mapping_horizon.launch
rosbag play YOUR_DOWNLOADED.bag

5.Acknowledgments

Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), LOAM_NOTED.

hpoleselo/livox_custom_msg_to_point_cloud