This is a Livox Avia driver under ROS2 Humble modified from the official Livox driver repository and the Livox-SDK repository modified for ubuntu 22.04. Details about the parameter configuration can be found there.
- Ubuntu 22.04
- ROS2 Humble
cd ~/ros2_ws/src
git clone https://github.com/ASIG-X/livox_ros2_avia
cd ..
colcon build --symlink-install
IMPORTANT :
If you would like to compile livox_ros2_avia, be sure to delete/rename the "livox_sdk_static.a" file in the "/usr/local/lib/" directory. The livox_ros2_avia would build a shared library of Livox-SDK on its own.
To use this driver, please follow the steps below.
- Change the 'broadcast_code' in livox_ros2_avia/config/livox_lidar_config.json to the composition of a 14-character serial number (can be found under the QR code of the Avia body shell) and an additional character '1', e.g., '3JEDLB100127651'.
- Change the 'enable_connect' in the same file from 'false' to 'true'.
- Open a new terminal and launch the driver by using the following three methods:
- Publish Livox customized point cloud data
ros2 launch livox_ros2_avia livox_lidar_msg_launch.py
- Publish pointcloud2 format data
ros2 launch livox_ros2_avia livox_lidar_launch.py
- Publish pointcloud2 format data and visualize the point cloud in RViz
ros2 launch livox_ros2_avia livox_lidar_rviz_launch.py
Ziyu Cao (email: ziyu.cao@liu.se)
Kailai Li (email: kailai.li@rug.nl)
The source code is released under MIT license.
We are constantly working on improving our code. For any technical issues, please contact Ziyu Cao (ziyu.cao@liu.se).