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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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sensor_msgs::PointCloud2与livox_ros_dirver::CustomMsg的相互转换 #125

Open XinZhaoDC opened 2 years ago

XinZhaoDC commented 2 years ago

如题，请问可以提供一下这两种数据类型的相互转换的代码么？在网上没有搜到相关资料，谢谢。

russellyq commented 2 years ago

Hi 我也有相同的问题请教

maxpolzin commented 1 year ago

Same here. How can I convert from livox_ros_dirver::CustomMsg to sensor_msgs::PointCloud2?

1010186 commented 1 year ago

大佬，有办法了吗

XinZhaoDC commented 1 year ago

如题，请问可以提供一下这两种数据类型的相互转换的代码么？在网上没有搜到相关资料，谢谢。

Sorry to say that I have communicated with a customer service engineer of DJI and there is no official solution yet.

1010186 commented 1 year ago

大佬知道这个怎么解决吗，运行roslaunch livox_ros_driver livox_lidar_msg.launch，想获得一个customMsg格式的bag包，但是出现 [ WARN] [1671087467.186709118]: Shutdown request received. [ WARN] [1671087467.186750218]: Reason given for shutdown: [[/livox_lidar_publisher] Reason: new node registered with same name] . . . [ERROR] [1671087471.099274355]: Client [/rviz] wants topic /livox/lidar to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [livox_ros_driver/CustomMsg/e4d6829bdfe657cb6c21a746c86b21a6]. Dropping connection.