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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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Question about ros lvx_to_bag #32

Closed hz3014 closed 3 years ago

hz3014 commented 4 years ago

Hi, we have a windows sdk collected lvx file contains 8 horizon lidar. Now i am trying to convert it to rosbag. While the conversion was successful, I did not see any data published on /livox/lidar topic. On the other hand, I downloaded a lvx file from your website, in this case there were data published on /livox/lidar.

Question is: is it possible to convert windows collected lvx file to rosbag through livox_ros_driver? if yes, what is the key element that i need to take care? to change the config of hub.json?

hz3014 commented 4 years ago

this livox ros sdk utilizes pure livox SDK to read lvx file, collect the packet data to form point cloud data; then finally use ROS as interface to publish /livox/lidar message. So if your collected lvx file on windows can be read by livox viewer, I think it can be normally read by this ROS sdk itself, using the construction written in README

I just quickly checked the lvx file on https://www.livoxtech.com/downloads . I was able to convert Livox Horizon Point Cloud Data 1 but not Livox Horizon Point Cloud Data 2. I noticed Data 1 is a single lidar file while data 2 consists 3 lidars. I highly suspect there are some config which need to be done at data collection stage or conversion stage.

Livox-SDK commented 3 years ago

Hi hz2014,

For issue-not able to convert Horizon Point Cloud Data 2, Based on your description, I am highly suspecting that you either not typing the full file path or the lvx file name error. Please try typing the full path or changing the lvx file name to an English name and try again

TheSeanParker commented 5 months ago

Hi, we have a windows sdk collected lvx file contains 8 horizon lidar. Now i am trying to convert it to rosbag. While the conversion was successful, I did not see any data published on /livox/lidar topic. On the other hand, I downloaded a lvx file from your website, in this case there were data published on /livox/lidar.

Question is: is it possible to convert windows collected lvx file to rosbag through livox_ros_driver? if yes, what is the key element that i need to take care? to change the config of hub.json?

https://zhuanlan.zhihu.com/p/696431746