Livox-SDK/livox_ros_driver2

What it solves

It provides a standardized way to connect Livox LiDAR hardware to the Robot Operating System (ROS) and ROS2, allowing developers to capture and process 3D point cloud data for robotics applications.

How it works

The driver acts as a bridge between Livox LiDAR devices and the ROS/ROS2 ecosystem. It uses JSON-style configuration files to define network settings (IP addresses and ports) and device-specific parameters. Once running, it publishes LiDAR data as point clouds in various formats, including standard PCL PointXYZI, Livox-specific customized formats, or a hybrid PointXYZRTLT format, which can then be visualized in RViz or processed by other ROS nodes.

Who it’s for

Robotics developers and researchers using Livox LiDAR sensors (such as HAP, MID360, MID360s, and Avia2) who need to integrate these sensors into a ROS or ROS2 based software stack.

Highlights

• Cross-Version Support: Compatible with ROS (Noetic recommended) and ROS2 (Foxy, Humble, and Jazzy).
• Multi-Device Handling: Supports connecting and managing multiple LiDAR devices simultaneously, including mixed-model setups.
• Flexible Data Formats: Offers multiple point cloud output formats to suit different processing needs.
• Integrated Visualization: Includes launch files that automatically load RViz for immediate data visualization.