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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 make the pointcloud sparse in rviz? #99

Closed joonr7 closed 3 years ago

joonr7 commented 3 years ago

Hi, I am using MID-70 and ros melodic. I modified "publish_freq" values in *.launch files, but I couldn't modify the sensor resolution. I could only control the frequency of the pub rate of /livox/lidar topic.

Which parameter of launch file should I edit to make sensor data sparse? (just like 100ms frame time on livox visualizer)

rviz_cannotcontrol

I installed livox sdk and ros driver following your instruction.

cf> I could modify the resolution with "Frame Time" in windows livox viewer. dense: dense

sparse: sparse

https://github.com/Livox-SDK/Livox-SDK/issues/137

joonr7 commented 3 years ago

I solved it by myself. The topic was published just like I intended.

The problem was "RViz" visualization way. I changed "Decay time" that means how long the points is displayed and the problem is solved.

decaytime