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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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How to merge multi Lidars PointCloud with hub? #97

Closed h-wata closed 3 years ago

h-wata commented 3 years ago

Hi, I try to connect 5 Horizon to Livox Hub and save lvx file. After that lvx file convert to bag file by lvx_to_rosbag.launch.

Configuration

livox viewer(lvx) livox-viewer

I confused that /livox/lidar topic in .bag file seems to publish each lidar's pointcloud as follow, RVIZ livox-rviz

rostopic hz /livox/lidar
subscribed to [/livox/lidar]
average rate: 54.471
        min: 0.000s max: 0.100s std dev: 0.03807s window: 50
average rate: 52.139
        min: 0.000s max: 0.100s std dev: 0.03877s window: 100
average rate: 51.392
        min: 0.000s max: 0.100s std dev: 0.03871s window: 150

Let me know how to publish 5 Lidars points at once like .lvx file.

Livox-SDK commented 3 years ago

Set Decay Time to 0.1, 0.2, 0.5, or 1, etc. The "Decay Time" must be greater than 0.

h-wata commented 3 years ago

Set Decay Time to 0.1, 0.2, 0.5, or 1, etc. The "Decay Time" must be greater than 0.

Thank you for reply. What you mean is that one topic is published from only one lidar, right? If so, I use the node to merge PointCloud2 topic like points_concat_filter.

Livox-SDK commented 3 years ago

"What you mean is that one topic is published from only one lidar, right?" yes，you can sync and merge all lidars when you receive enough topics!

h-wata commented 3 years ago

Thanks for your support!