simple test fail

[PLAN8VR]

Hi,

Thanks for providing this code , I'm hoping I can get it working as Im keen to run on a raspberry pi 4 but using the livox drivers, this has ubuntu compatibility issues meaning I can only run it on a Rpi 3

Anyway, I have tried to run your basic example ...

import openpylivox as opl sensor = opl.openpylivox(True) sensor.auto_connect() sensor.dataStart_RT() sensor.saveDataToFile("points.csv",0,10.0) #collect exactly 10.0 seconds of data while True: if sensor.doneCapturing(): break sensor.disconnect()

But get this return...

`Using computer IP address: 127.0.1.1

Discovered a Livox sensor Type: Mid-40 Serial: 0TFDH9U0062*** IP(s): 192.168.1.80 (ID: 1)

Attempting to auto-connect to the Livox Mid-40 with S/N: 0TFDH9U0062*** Traceback (most recent call last): File "test2.py", line 3, in sensor.auto_connect() File "/home/woody/.local/lib/python3.6/site-packages/openpylivox/openpylivox.py", line 2219, in auto_connect numFound = self.connect(self._computerIP, lidarSensorIPs[0], 0, 0, 0) File "/home/woody/.local/lib/python3.6/site-packages/openpylivox/openpylivox.py", line 2079, in connect self._cmdSocket.sendto(connect_request, (self._sensorIP, 65000)) OSError: [Errno 22] Invalid argument `

Any ideas what I'm doing wrong ? Thanks!

Best regards, Andrew

[ryan-brazeal-ufl]

I suspect it is the sensor.auto_connect() line that is the culprit, as the auto-discovered IP address for your computer is returning the loopback address of 127.0.1.1. Try instead to use sensor.auto_connect("192.168.1.X"), where X is the IP address of your computer on the same network (WAN or WiFi) as the Livox sensor is connected to. Run the command ifconfig from terminal to discover the IP address(es) of your computer.

I have had no issues running OPL on a RPi4, but I have only used the Raspberry Pi OS, not a Ubuntu distro, but there shouldn't be any issues with the OS, famous last words ;)

[PLAN8VR]

Hi Ryan,

Thank you for taking the time to get back to me.

So, I have tried adding the local IP but have new errors now....

Connected to the Livox Mid-40 at IP: 192.168.1.152 (ID: 1) Traceback (most recent call last): File "test2.py", line 4, in <module> sensor.dataStart_RT() File "/home/woody/.local/lib/python3.6/site-packages/deprecated/classic.py", line 285, in wrapper_function return wrapped_(*args_, **kwargs_) File "/home/woody/.local/lib/python3.6/site-packages/openpylivox/openpylivox.py", line 2481, in dataStart_RT self._dataStart_RT() File "/home/woody/.local/lib/python3.6/site-packages/openpylivox/openpylivox.py", line 2451, in _dataStart_RT self._captureStream = _dataCaptureThread(self._sensorIP, self._dataSocket, "", 1, 0, 0, 0, self._showMessages, self._format_spaces, self._deviceType) TypeError: __init__() missing 1 required positional argument: 'deviceType'

[PLAN8VR]

Hi Ryan,

I seem to have got it working using the longer example script "livox_controller_demo.py"!

This is awesome work - thank you.

One question, is it possible to record and write out to the .lvx file, or at least an equivalent that can be later converted into a ROS bag for LOAM playback construction?

Thanks again!

[ryan-brazeal-ufl]

.LVX file export from OPL is on the project's development list. Hopefully, I can find the time needed to implement this functionality soon.

[PLAN8VR]

Awesome, Thanks Ryan.