[Question] Messages types

ManChrys commented 3 years ago

Hello @gisbi-kim ,

when i record a bag from my livox has these details

types:       sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]

topics:      /livox/lidar   3898 msgs    : sensor_msgs/PointCloud2

but the rosbag i downloaded to try the package, which worked perfect, has the following details

types:       livox_ros_driver/CustomMsg [e4d6829bdfe657cb6c21a746c86b21a6]
             sensor_msgs/Imu            [6a62c6daae103f4ff57a132d6f95cec2]
topics:      /livox/imu     52886 msgs    : sensor_msgs/Imu           
             /livox/lidar    2605 msgs    : livox_ros_driver/CustomMsg

because there is an error which says

[ERROR] [1627909350.703778795]: Client [/laserMapping] wants topic /livox/lidar to have datatype/md5sum [livox_ros_driver/CustomMsg/e4d6829bdfe657cb6c21a746c86b21a6], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection.

Edit

Im talking about /livox/lidar topic

Should i change the lasemapping.cpp

https://github.com/gisbi-kim/FAST_LIO_SLAM/blob/bf975560741c425f71811c864af5d35aa880c797/FAST-LIO/src/laserMapping.cpp#L300

or i have to do something else? Thank you :)

gisbi-kim commented 3 years ago

@ManChrys sorry this is a quick response but not the answer.

Because I did not have the livox lidar, so the tests on the livox topics have currently been delayed. It will take a few weeks to finish the livox test. If in future I finished the test and tutorial for livox lidar, then I'll let you know again later.

I hope whether any other user can help this issue so I do not close this issue.

ManChrys commented 3 years ago

@gisbi-kim ok my friend.

In my newbie opinion, i think that we have to convert custom livox lidar msgs type from sensor_msgs/PointCloud2 to livox_ros_driver/CustomMsg or the opposite so the package msgs and livox messages be compatible.

I'll search it more !! Thanks again :)

huangsiyuan0717 commented 2 years ago

@gisbi-kim ok my friend.

In my newbie opinion, i think that we have to convert custom livox lidar msgs type from sensor_msgs/PointCloud2 to livox_ros_driver/CustomMsg or the opposite so the package msgs and livox messages be compatible.

I'll search it more !! Thanks again :)

If you search the scripts or other ways to convert please note me. I also want to have the custom livox message from pcl2.

XinZhaoDC commented 2 years ago

@gisbi-kim ok my friend.

In my newbie opinion, i think that we have to convert custom livox lidar msgs type from sensor_msgs/PointCloud2 to livox_ros_driver/CustomMsg or the opposite so the package msgs and livox messages be compatible.

I'll search it more !! Thanks again :)

Hello, have you resolved the convertion problem(livox_ros_dirver::CustomMsg to sensor_msgs::PointCloud2)?

ManChrys commented 2 years ago

try this xfer-format 1

https://github.com/Livox-SDK/livox_ros_driver

gisbi-kim / FAST_LIO_SLAM

[Question] Messages types #11