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

# 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

This package is released under the MIT license.