About Livox lidar instead of velodyne

[MA-xiaowen]

First of all, thank you very much for your outstanding contribution, which brought me into contact with this excellent project fusion lidar and cameras. About the lidar we use, it is a solid-state lidar rather than a mechanical lidar like velodyne. So I would like to ask, is there anything that needs to be paid attention to when replacing velodyne with solid-state lidar? By changing the lidar topic and image topic, I can currently display the original image and point cloud, but cannot display the fused image and point cloud， I hope you can give me your comments on this part. Thank you so much.

[EPVelasco]

Hi. You should take into account the type of message in the point cloud. The current project works with topics with PontiCloud2 message type. I think Livox has its own message type (see livox_ros_driver).
Make sure to convert the livox message to PointCloud2.
You can see the official livox mapping repository. There is a node there that converts the message type to PointCloud2.