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livox_to_pointcloud2's Introduction

livox_to_pointcloud2

This package provides ROS1/ROS2 interfaces to convert livox_interfaces::msg::CustomMsg into sensor_msgs::msg::PointCloud2.

Usage

# Launch as a ROS1 node
rosrun livox_to_pointcloud2 livox_to_pointcloud2_node

# Launch as a ROS2 node
ros2 run livox_to_pointcloud2 livox_to_pointcloud2_node

# Launch as a standalone ROS2 component
ros2 component standalone livox_to_pointcloud2 livox_to_pointcloud2::LivoxToPointCloud2
  • In/Out Topics:

    • Input topic: /livox/lidar (livox_interfaces::msg::CustomMsg)
    • Output topic: /livox/points (sensor_msgs::msg::PointCloud2)
  • Point fields in the output pointcloud:

    • x, y, z : FLOAT32
    • t : UINT32
    • intensity : FLOAT32
    • tag : UINT8
    • line : UINT8

License

This package is released under the MIT license.

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