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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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Horizon: Recording to rosbag including internal IMU data #26

Closed dmirk closed 4 years ago

dmirk commented 4 years ago

Hi, i try to record to rosbag using the livox_lidar_msg.launch file. So I changed the arg "rosbag_enable" to true, which records succesfully to a file located in ~/.ros When I want to play that file with the Livox-SDK/livox_horizon_loam package it works successfully only with the default launch file.

If I use the "_imu" version (changed line 24 in the launch file to use the internal IMU of horizon) nothing happens when playing the rosbag.

Is this an issue with the recorded bag, or with the loam package?

PanZhichen commented 4 years ago

hi~ you can use $ rosbag info YOUR_RECORDED_BAG.bag to check if there is a topic named /livox/imu in your rosbag. If not, please modify the json config file as mentioned here to enable the imu output. In addition, the README for Livox-SDK/livox_horizon_loam has been updated, hope it helps you.