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Livox-SDK / livox_horizon_loam

Livox horizon porting for loam
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Run times error #2

Closed sczgzzzj closed 4 years ago

sczgzzzj commented 4 years ago

[ERROR] [1582104656.932088632]: Client [/livox_repub] wants topic /livox/lidar to have datatype/md5sum [livox_ros_driver/CustomMsg/e4d6829bdfe657cb6c21a746c86b21a6], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection.

What's the problem, please

mrmouss commented 4 years ago

They use the custom cloud format, in your driver launch you need to change xfer_format from 0 to 1

sczgzzzj commented 4 years ago

Thank you, it's ready to use, but the test results are not so good

mrmouss commented 4 years ago

Try this one instead: https://github.com/hku-mars/loam_livox

PanZhichen commented 4 years ago

hi @sczgzzzj , if you want to run the demo directly, you need to launch the livox_ros_driver with livox_lidar_msg.launch to allow CustomMsg output. Or you can run the rosbag example, the download link was updated recently.

Livox-SDK commented 4 years ago

Hi,sczgzzzj and mbennehar The livox_horizon_loam only support the CustomMsg format, must use livox_lidar_msg.launch to launch the livx_ros_driver.

sczgzzzj commented 4 years ago

tanks，I'll test it to see if it works

------------------ 原始邮件 ------------------ 发件人: "matlabbe"<notifications@github.com>; 发送时间: 2020年2月25日(星期二) 下午4:56 收件人: "Livox-SDK/livox_horizon_loam"<livox_horizon_loam@noreply.github.com>; 抄送: "zzzj"<370186169@qq.com>;"Mention"<mention@noreply.github.com>; 主题: Re: [Livox-SDK/livox_horizon_loam] Run times error (#2)

Hi,sczgzzzj and mbennehar The livox_horizon_loam only support the CustomMsg format, must use livox_lidar_msg.launch to launch the livx_ros_driver.

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