Livox ROS2 Driver(览沃ROS2驱动程序中文说明)

The Livox ROS2 driver is a driver package based on ROS2, specifically used to connect LiDAR products produced by Livox.

0. Version and Release History

0.1 Current Version

v0.0.1-beta

0.2 Release History

Release History

1. Install dependencies

Before running Livox ROS2 driver under ubuntu18.04, ROS2 (dashing, ubuntu18.04), colcon build tool and Livox-SDK must be installed.

1.1 ROS2 installation

For ROS2 installation, please refer to the ROS2 installation guide :

ROS2 installation guide

Note :

（1）Be sure to install the desktop version of ROS2 (ros-dashing-desktop);

（2）After installing ROS2 dashing, please follow the installation guide to configure the system environment;

1.2 install colcon

Please refer to the following link for colcon installation：

colcon installation

2. Get and build livox_ros2_driver

1. Get livox_ross_driver from GitHub :

   git clone https://github.com/Livox-SDK/livox_ros2_driver.git ws_livox/src

Note :

Be sure to use the above command to clone the code to the local, otherwise it will compile error due to the file path problem.

1. Use the following command to build livox_ros2_driver : #### For ROS2 Foxy:

	source /opt/ros/foxy/setup.sh
	cd ws_livox
	colcon build
	

#### For ROS2 Humble:

	source /opt/ros/humble/setup.sh
	cd ws_livox
	colcon build
	

IMPORTANT :

If you would like to compile livox_ros2_driver, be sure to delete/rename the “livox_sdk_static.a” file in the “/usr/local/lib/” directory. The livox_ros2_driver would build a shared library of Livox-SDK on its own.

1. Source the environment

   source ./install/setup.sh

3. Run livox_ros2_driver

3.1 Use the ROS2 launch file to load livox_ros2_driver

Before using the launch file to load livox_ros2_driver, first enter the directory where the launch file is located, the command is as follows：

cd ./src/livox_ros2_driver/launch

The command format for loading livox_ros2_driver using the launch file is as follows：

ros2 launch [launch file]

3.2 ROS2 launch load command example

In lidar connection mode, the commands to load livox_ros2_driver and rviz2 are as follows : ros2 launch livox_lidar_rviz_launch.py

In hub connection mode, the commands to load livox_ros2_driver and rviz2 are as follows : ros2 launch livox_hub_rviz_launch.py

3.3 ROS2 launch loads livox_ros2_driver precautions

1. The launch method of ros2 is completely different from that of ros1. The launch file of ros2 is actually a python script;

2. The ros2 driver no longer supports specifying the LiDAR device to be connected under the command line, and only supports configuring the corresponding LiDAR broadcast code and other parameters in the json configuration file;

3. When the connection status of the device specified in the configuration file is configured to enable connection (true), the livox_ros2_driver will only connect to the device specified in the configuration file;

4. When the connection status of the devices specified in the configuration file is all configured to prohibit connection (false), livox_ros2_driver will automatically connect all the devices that are scanned;

5. the json configuration file is in the “ws_livox/src/livox_ros2_driver/config” directory;

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