hku-mars 时间同步-MID360驱动修改

# Livox ROS Driver 2 Livox ROS Driver 2 is the 2nd-generation driver package used to connect LiDAR products produced by Livox, applicable for ROS (noetic recommended) and ROS2 (foxy or humble recommended). **Note :** As a debugging tool, Livox ROS Driver is not recommended for mass production but limited to test scenarios. You should optimize the code based on the original source to meet your various needs. ## 1. Preparation ### 1.1 OS requirements * Ubuntu 18.04 for ROS Melodic; * Ubuntu 20.04 for ROS Noetic and ROS2 Foxy; * Ubuntu 22.04 for ROS2 Humble; **Tips:** Colcon is a build tool used in ROS2. How to install colcon: [Colcon installation instructions](https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html) ### 1.2 Install ROS & ROS2 For ROS Melodic installation, please refer to: [ROS Melodic installation instructions](https://wiki.ros.org/melodic/Installation) For ROS Noetic installation, please refer to: [ROS Noetic installation instructions](https://wiki.ros.org/noetic/Installation) For ROS2 Foxy installation, please refer to: [ROS Foxy installation instructions](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html) For ROS2 Humble installation, please refer to: [ROS Humble installation instructions](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) Desktop-Full installation is recommend. ## 2. Build & Run Livox ROS Driver 2 ### 2.1 Clone Livox ROS Driver 2 source code: ```shell git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2 ``` **Note :** Be sure to clone the source code in a '[work_space]/src/' folder (as shown above), otherwise compilation errors will occur due to the compilation tool restriction. ### 2.2 Build & install the Livox-SDK2 **Note :** Please follow the guidance of installation in the [Livox-SDK2/README.md](https://github.com/Livox-SDK/Livox-SDK2/blob/master/README.md) ### 2.3 Build the Livox ROS Driver 2: #### For ROS (take Noetic as an example): ```shell source /opt/ros/noetic/setup.sh ./build.sh ROS1 ``` #### For ROS2 Foxy: ```shell source /opt/ros/foxy/setup.sh ./build.sh ROS2 ``` #### For ROS2 Humble: ```shell source /opt/ros/humble/setup.sh ./build.sh humble ``` ### 2.4 Run Livox ROS Driver 2: #### For ROS: ```shell source ../../devel/setup.sh roslaunch livox_ros_driver2 [launch file] ``` in which, * **livox_ros_driver2** : is the ROS package name of Livox ROS Driver 2; * **[launch file]** : is the ROS launch file you want to use; the 'launch_ROS1' folder contains several launch samples for your reference; An rviz launch example for HAP LiDAR would be: ```shell roslaunch livox_ros_driver2 rviz_HAP.launch ``` #### For ROS2: ```shell source ../../install/setup.sh ros2 launch livox_ros_driver2 [launch file] ``` in which, * **[launch file]** : is the ROS2 launch file you want to use; the 'launch_ROS2' folder contains several launch samples for your reference. A rviz launch example for HAP LiDAR would be: ```shell ros2 launch livox_ros_driver2 rviz_HAP_launch.py ``` ## 3. Launch file and livox_ros_driver2 internal parameter configuration instructions ### 3.1 Launch file configuration instructions Launch files of ROS are in the "ws_livox/src/livox_ros_driver2/launch_ROS1" directory and launch files of ROS2 are in the "ws_livox/src/livox_ros_driver2/launch_ROS2" directory. Different launch files have different configuration parameter values and are used in different scenarios: | launch file name | Description | | ------------------------- | ------------------------------------------------------------ | | rviz_HAP.launch | Connect to HAP LiDAR device
Publish pointcloud2 format data
Autoload rviz | | msg_HAP.launch | Connect to HAP LiDAR device
Publish livox customized pointcloud data| | rviz_MID360.launch | Connect to MID360 LiDAR device
Publish pointcloud2 format data
Autoload rviz| | msg_MID360.launch | Connect to MID360 LiDAR device
Publish livox customized pointcloud data | | rviz_mixed.launch | Connect to HAP and MID360 LiDAR device
Publish pointcloud2 format data
Autoload rviz| | msg_mixed.launch | Connect to HAP and MID360 LiDAR device
Publish livox customized pointcloud data | ### 3.2 Livox ros driver 2 internal main parameter configuration instructions All internal parameters of Livox_ros_driver2 are in the launch file. Below are detailed descriptions of the three commonly used parameters : | Parameter | Detailed description | Default | | ------------ | ------------------------------------------------------------ | ------- | | publish_freq | Set the frequency of point cloud publish
Floating-point data type, recommended values 5.0, 10.0, 20.0, 50.0, etc. The maximum publish frequency is 100.0 Hz.| 10.0 | | multi_topic | If the LiDAR device has an independent topic to publish pointcloud data
0 -- All LiDAR devices use the same topic to publish pointcloud data
1 -- Each LiDAR device has its own topic to publish point cloud data | 0 | | xfer_format | Set pointcloud format
0 -- Livox pointcloud2(PointXYZRTLT) pointcloud format
1 -- Livox customized pointcloud format
2 -- Standard pointcloud2 (pcl :: PointXYZI) pointcloud format in the PCL library (just for ROS) | 0 | **Note :** Other parameters not mentioned in this table are not suggested to be changed unless fully understood.     ***Livox_ros_driver2 pointcloud data detailed description :*** 1. Livox pointcloud2 (PointXYZRTLT) point cloud format, as follows : ```c float32 x # X axis, unit:m float32 y # Y axis, unit:m float32 z # Z axis, unit:m float32 intensity # the value is reflectivity, 0.0~255.0 uint8 tag # livox tag uint8 line # laser number in lidar float64 timestamp # Timestamp of point ``` **Note :** The number of points in the frame may be different, but each point provides a timestamp. 2. Livox customized data package format, as follows : ```c std_msgs/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 ```     Customized Point Cloud (CustomPoint) format in the above customized data package : ```c 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 tag # livox tag uint8 line # laser number in lidar ``` 3. The standard pointcloud2 (pcl :: PointXYZI) format in the PCL library (only ROS can publish):     Please refer to the pcl :: PointXYZI data structure in the point_types.hpp file of the PCL library. ## 4. LiDAR config LiDAR Configurations (such as ip, port, data type... etc.) can be set via a json-style config file. Config files for single HAP, Mid360 and mixed-LiDARs are in the "config" folder. The parameter naming *'user_config_path'* in launch files indicates such json file path. 1. Follow is a configuration example for HAP LiDAR (located in config/HAP_config.json): ```json { "lidar_summary_info" : { "lidar_type": 8 # protocol type index, please don't revise this value }, "HAP": { "device_type" : "HAP", "lidar_ipaddr": "", "lidar_net_info" : { "cmd_data_port": 56000, # command port "push_msg_port": 0, "point_data_port": 57000, "imu_data_port": 58000, "log_data_port": 59000 }, "host_net_info" : { "cmd