Package Summary

The ROS device driver for Livox 3D LiDARs and Livox Hub

Maintainer status: maintained
Maintainer: Livox Dev Team <dev AT livoxtech DOT com>
Author: Livox Dev Team <dev AT livoxtech DOT com>
License: MIT
Source: git https://github.com/Livox-SDK/livox_ros_driver.git (branch: master)

Email: <dev@livoxtech.com>

Contents

OverView
Supported Devices
ROS Nodes
Install from Source Code

OverView

ROS packages for Livox 3D LiDARs. This driver provides the measurement data as PointCloud2 or Livox defined cloudpoint data.

Livox defined msg format is :

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 data

CustomPoint format:

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 line              # laser number in lidar

Supported Devices

The driver supports at least the LiDAR listed below.

Supported Devices
Device Name	Firmware Version	Description
Livox MID40	3.3.00+	FOV：38.4°(Circular) Detection Range： 90 m @ 10% reflectivity 130 m @ 20% reflectivity 260 m @ 80% reflectivity
Livox MID100	3.3.00+	FOV：98.4° (Horizontal) × 38.4° (Vertical) Detection Range： 90 m @ 10% reflectivity 130 m @ 20% reflectivity 260 m @ 80% reflectivity
Livox Horizon	6.8.00+	FOV：81.7° (Horizontal) × 25.1° (Vertical) Detection Range： 90 m @ 10% reflectivity 130 m @ 20% reflectivity 260 m @ 80% reflectivity
Livox Hub	8.4.00+	Up to 9 Livox LiDAR ports

ROS Nodes

Install from Source Code

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