ROS2 Driver Support for Livox Avia

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.

Dependencies

• Ubuntu 22.04
• ROS2 Humble

Compilation

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.

Usage

To use this driver, please follow the steps below.

1. 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'.
2. Change the 'enable_connect' in the same file from 'false' to 'true'.
3. 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

Contributors

Ziyu Cao (email: [email protected])

Kailai Li (email: [email protected])

License

The source code is released under MIT license.

We are constantly working on improving our code. For any technical issues, please contact Ziyu Cao ([email protected]).