Skip to content

Latest commit

 

History

History
69 lines (53 loc) · 1.68 KB

README.md

File metadata and controls

69 lines (53 loc) · 1.68 KB
Raw

Livox-Free-Space

Livox-Free-Space is a fast and effective free-space detection package using Livox LiDAR data. It based on traditional algorithm to segment 3D LiDAR data and generate free-space.

Demo

Free space is marked in red.

Dependencies

  • ROS (tested with Melodic)
  • Eigen 3.3.7
  • PCL 1.8

Installation

cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_free_space
cd ..
catkin_make

Run with Bag File

  • Open your bash and cd to the path of your bag, or you can use the demo bag in data/.
rosbag play your.bag
  • Open another bash and cd to your workspace.
cd ~/your_workspace
source devel/setup.bash
roslaunch livox_free_space livox_free_space.launch

Run with your device:

  • Run your LiDAR with livox_ros_driver
cd ~/catkin_ws
source devel/setup.bash
roslaunch livox_ros_driver livox_lidar.launch
  • Change the topic name in src/FreeSpace_node.cpp from/points_raw to /livox/lidar. And then catkin make this package:
cd ~/your_workspace
catkin_make
  • Run the launch file:
source devel/setup.bash
roslaunch livox_free_space livox_free_space.launch

Notes

  • The required topic name of point cloud messages is /points_raw, and the type is sensor_msgs::PointCloud2
  • The parameter height_offset in launch file is used to calibrate the ground height in input point cloud to near 0 in advance.

Support

You can get support from Livox with the following methods:

  • Send email to [email protected] with a clear description of your problem and your setup
  • Report issues on github