[Documentation] [TitleIndex] [WordIndex

Package Summary

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

Email: <dev@livoxtech.com>

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 Hub

8.4.00+

Up to 9 Livox LiDAR ports

ROS Nodes

Install from Source Code


CategoryHomepage


2019-12-07 12:48