Could each LiDAR set frame_id when livox_hub_msg.launch?

[h-wata]

I've tested livox LiDAR and Hub. I know your released livox_automatic_calibration, but It couldn't estimate well in my environment.

Therefore I would like to set the frame_id for EACH LiDARs when livox_hub_msg.launch. Do you have a plan to do that?

Thanks your great products and attentions.

[Livox-SDK]

hi,h-wata: you can specify the frame_id by handle.

void Lddc::InitPointcloud2MsgHeader(sensor_msgs::PointCloud2& cloud) { cloud.header.frame_id.assign(frameid); cloud.height = 1; cloud.width = 0; cloud.fields.resize(6); cloud.fields[0].offset = 0; .... } modify it to void Lddc::InitPointcloud2MsgHeader(sensor_msgs::PointCloud2& cloud, uint8_t handle) { format the frame id string by handle here }

[h-wata]

Thanks for your reply and solutions. I would like to confirm as follows; You mean I should modify this lines, right? https://github.com/Livox-SDK/livox_ros_driver/blob/1d6e869a3e7422669825da51fc788f0128f141a1/livox_ros_driver/livox_ros_driver/lddc.cpp#L132-L162 ~I understand this node use in single Livox Lidar bringing up.~

~In my case, I would like to use multi sensors with Livox Hub and to set frame_id each Lidars. If I misunderstand, please correct.~

I understand your solution. I try to modify Lddc::InitPointcloud2MsgHeader.

[maomao0220]

感谢您的回复和解决方案。 我想确认如下； 你的意思是我应该修改这一行，对吧？

https://github.com/Livox-SDK/livox_ros_driver/blob/1d6e869a3e7422669825da51fc788f0128f141a1/livox_ros_driver/livox_ros_driver/lddc.cpp#L132-L162

~我了解此节点在单个 Livox 激光雷达中的使用。~ ~就我而言，我想在 Livox Hub 中使用多传感器并为每个激光雷达设置 frame_id。 如果我理解错了，请纠正。~

我了解您的解决方案。 我尝试修改Lddc::InitPointcloud2MsgHeader.

[maomao0220]

How did you solve it? Thanks for your reply

[h-wata]

How did you solve it? Thanks for your reply

I have not been solved. I set each lidar's positons by "Extrinsic Calibration" in LivoxViewer. I calibrated by hand because I gave up on using automatic calibration.

I'm sorry I couldn't help you...