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Livox-SDK / livox_horizon_loam

Livox horizon porting for loam
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Playing back bagfile recored with livox ros driver #29

Closed Rotoslider closed 3 years ago

Rotoslider commented 3 years ago

Bag Time: 1619289174.066105 Duration: 0.000000 / 359.924376 Dela[ERROR] [1619309358.510427981]: 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. Using the livox ros driver I can see the point cloud in rviz. I used rosbag record to record the points. Later I tried to play the bag file in livox horizon loam and received the error above. Why would one livox software not work with other livox software? The bag file info is below: _path: 360Livox1cart.bag version: 2.0 duration: 5:59s (359s) start: Apr 24 2021 11:47:58.71 (1619290078.71) end: Apr 24 2021 11:53:58.59 (1619290438.59) size: 1.5 GB messages: 80350 compression: none [1799/1799 chunks] types: rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] topics: /livox/imu 76745 msgs : sensor_msgs/Imu
/livox/lidar 3597 msgs : sensor_msgs/PointCloud2 /rosout 8 msgs : rosgraphmsgs/Log (3 connections)

I tried to use livox mapping but it has issues building on my Jetson AGX with Ubuntu 18.04 and Open CV4.1.1

So far the results from my tests with livox are sad compared to my velodynes. Please advise and suggestions on how to record a proper bag file that will work in horizon loam.

thanks

Rotoslider commented 3 years ago

Run roslaunch livox_ros_driver livox_lidar_msg.launch instead of roslaunch livox_ros_driver livox_lidar.launch to make work with horizon loam.