Description

This package developed in ROS is for point cloud processing of a livox360 sensor.

Compile pacakage.

Requisites:

• The Livox_ros_driver.

• Armadillo (11.0.1 or higher) This package is used for data lineal inerpolation.

    tar -xvf armadillo-11.1.1.tar.xz
    cd armadillo-11.1.1
    mkdir build
    cd build
    cmake ..
    make
    sudo make install
  

After that you can clone this repository.

    cd ~/catkin_ws/src
    git clone https://github.com/EPVelasco/livox_360_processing.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

Nodes

Interpolated point cloud.

Suscribed Topics.

~/livox/lidar Input Point Cloud message. (sensor_msgs/PointCloud2)

Published Topics.

~/pc_interpoled Output point cloud interpolated. (sensor_msgs/PointCloud2)

ROS launch.

  roslaunch livox_360_processing interpolated_livox.launch

Livox-to-pointcloud2

Suscribed Topics.

~/livox/lidar Input Point Cloud message. (livox_ros_driver2/CustomMsg)

Published Topics.

~/livox/pointcloud Output point cloud converted. (sensor_msgs/PointCloud2)

ROS Run node.

  rosrun livox_360_processing livox_repub