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 robotic perception.

How it works

The driver acts as a bridge between Livox LiDAR devices and the ROS/ROS2 ecosystem. It reads raw data from the sensors via network configurations (IP/ports) and publishes that data as ROS messages. It supports multiple point cloud formats, including standard PCL PointXYZI, Livox-customized formats, and a specialized PointXYZRTLT format.

Who it’s for

Robotics developers and researchers using Livox LiDAR products (such as HAP, MID360, MID360s, Avia2, and MID360l) 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 three different point cloud transfer formats to balance between standard compatibility and Livox-specific data richness.
• Integrated Visualization: Includes launch files that automatically load RViz for immediate point cloud visualization.