No pointcloud output in Rviz running Livox Mid-360 on ROS 2 Humble

[NicholasTanYY]

Hello, I'm trying to get the Livox Mid360 Lidar to run on my computer but am currently unable to get any output in Rviz.

Operating System: Pop!_OS 22.04 LTS Lidar: Livox Mid-360 ROS 2 version: Humble

Steps taken to setup dependencies:

1. Setup Livox-SDK2 --> verified that the quick start program runs without errors.
2. Setup livox_ros_driver2 and built project using ./build.sh humble --> verified that msg_MID360.launch publishes ros2 topics and rviz_MID360.launch shows point cloud in rviz.
3. Installed pcl using sudo apt install libpcl-dev and eigen using sudo apt install libeigen3-dev
4. Followed build guide for FAST_LIO

Steps taken to run project

1. Build project using colcon build --packages-select fast_lio
2. Ran ros2 launch livox_ros_driver2 msg_MID360_launch.py in the right terminal and ros2 launch fast_lio mapping.launch.py config_file:=mid360.yaml in the left terminal
   Nothing appears in this Rviz window.

Others

Noted that the IMU and LiDAR are synchronized by PTP Sync from LivoxViewer2.

Here is my configuration for config/mid360.yaml

I'm quite new to this, so any advice would be appreciated. Thanks!

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