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Livox-SDK / livox_ros_driver

Livox device driver under ros, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.
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[ROS Noetic] Separate Lidars via Livox Hub #120

Closed AdriveLivingLab closed 2 years ago

AdriveLivingLab commented 2 years ago

Hello, we have several Lidars connected via a Livox Hub and all sensors integrated in ROS noetic.

Unfortunately, we are not able to assign different links (tf2) to the lidars as well as separate nodes. Thus, we receive all messages in one node assigned to the livox_frame. The configuration via livox_hub_config.json (msg_frame_id in line 13 in livox_hub.launch), as well as via the launch files does not allow us to control the names and links for each lidar separately.

Is there a solution to this to start each lidar via the hub as a single node in parallel?

Best regards

AdriveLivingLab commented 2 years ago

Hi,

fortunately we were able to solve this issue by using the Livox Viewer and it's built-in functionality to save extrinsic calibration parameters onto the Livox Hub. We calibrated the lidars extrinsically with respect to the hub. Based on this, we finally created our transformation for the tf2.