livox-sdk / livox_high_precision_mapping Goto Github PK
View Code? Open in Web Editor NEWHigh precision mapping with livox and apx-15
License: Other
livox_high_precision_mapping's Issues
rasberry pi
is this package compatible with the raspberry pi integration shown on the page below?
https://github.com/Livox-SDK/LivoxIntegration/blob/master/Integrating%20Livox%20LiDARs%20with%20INS.md
lidar .las format output
Hii,
I am new to this field of pointclouds, using this sensor setup on UAV for conducting survey in forest. As far from my understanding this package takes timesynchronized data from INS,GPS and lidar inorder to georeference the pointcloud and registration of pointclouds is also done in the process. Finally it outputs a map with georeferenced pointcloud. Please correct me if my understanding is wrong.
If my understanding is correct, how can I get a georeferenced pointcloud in .las format?
Thanks,
Krishna.
Originally posted by @Krishnateja244 in #1 (comment)
How to get rosbag output file to create a georeferenced las file (Not issue)?
Wondering how to get rosbag output file to create georeferenced las file?
Using LivoxViewer?
How did you measure the accuracy of 2cm?
Hi all,
I find myself really interested in this project. I'm handling problems regarding mapping and autonomous driving HD maps in general.
I'm wondering how you measured the accuracy, i.e 2cm?
I'm kind of new to the mapping problem. So if anyone of you coming across this question, please help clarify this for me.
Thank you a lot.
LIVOX MID 360
HELLO, CAN THE INTEGRATION WITH LIVOX MID 360 WORK?
Lidar time error
Hi,
I seem to have hit a wall in getting this package running correctly. I finally have the package successfully connecting to the apx-15 and livox mid-100. However, when I run the package, I am getting "lidar time error" messages:
I also am getting periodic serial open/success then disconnect messages (not sure if this is normal):
It does appear that it's connecting to the rs232 adapter. I have verified that the output from the apx-15 is correct and double checked settings in the apx-15 interface. The APX-15 has a GPS fix and is outputting PPS. I've also verified in livox viewer that the lidar units are seeing the PPS pulse and showing as synced.
Additionally, the rviz showing the pub_pointcloud2 topic doesn't show anything, and the package doesn't seem to be writing anything to the path specified in livox_mapping.launch.
The rviz session showing the real time lidar from the livox ros driver displays a point cloud.
Here is a sample of the entire output if it's helpful.
livox_mapping output
tac@TAC:/media/tac/C01AD6601AD652D0/Livox_output$ roslaunch livox_mapping mapping_online.launch ... logging to /home/tac/.ros/log/f5de5b5a-9b32-11ec-becd-705812e2b47d/roslaunch-TAC-5561.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.started roslaunch server http://TAC:46777/
SUMMARY
PARAMETERS
- /apx15_gsof_driver/baud: 230400
- /apx15_gsof_driver/port: /dev/TTL_to_USB
- /cmdline_file_path: livox_test.lvx
- /cmdline_str: 100000000000000
- /data_src: 0
- /enable_imu_bag: True
- /enable_lidar_bag: True
- /frame_id: livox_frame
- /livox_mapping_case/map_file_path: /home/tac/livox_o...
- /multi_topic: 0
- /output_data_type: 0
- /publish_freq: 10.0
- /rosdistro: melodic
- /rosversion: 1.14.12
- /user_config_path: /home/tac/ws_livo...
- /xfer_format: 0
NODES
/
apx15_gsof_driver (apx15/apx15_gsof_driver)
livox_lidar_publisher (livox_ros_driver/livox_ros_driver_node)
livox_mapping_case (livox_mapping/livox_mapping_case)
rviz (rviz/rviz)
rviz2 (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[livox_lidar_publisher-1]: started with pid [5576]
process[rviz-2]: started with pid [5577]
[ INFO] [1646341129.561544824]: Livox Ros Driver Version: 2.6.0
[ INFO] [1646341129.568539179]: Data Source is raw lidar.
[ INFO] [1646341129.569278996]: Config file : /home/tac/ws_livox/src/livox_ros_driver/config/livox_lidar_config.json
Commandline input bd:100000000000000
Invalid bd:100000000000000!
Livox SDK version 2.3.0
broadcast code[1LVDG1F006E94F1] : 1 0 0 0 0 0
Add Raw user config : 1LVDG1F006E94F1
broadcast code[1LVDG1F006E94F2] : 1 0 0 0 0 0
Add Raw user config : 1LVDG1F006E94F2
broadcast code[1LVDG1F006E94F3] : 1 0 0 0 0 0
Add Raw user config : 1LVDG1F006E94F3
Enable timesync :
Uart[/dev/RS232_to_USB],baudrate index[6],parity index[0]
Disable auto connect mode!
List all broadcast code in whiltelist:
1LVDG1F006E94F1
1LVDG1F006E94F2
1LVDG1F006E94F3
Livox-SDK init success!
[ INFO] [1646341129.572384182]: Init lds lidar success!
Open /dev/RS232_to_USB success!
process[apx15_gsof_driver-3]: started with pid [5583]
process[livox_mapping_case-4]: started with pid [5591]
[ INFO] [1646341129.589574021]: Successfully connected to serial port.
process[rviz2-5]: started with pid [5594]
[2022-03-03 14:58:49.629] [console] [info] Broadcast broadcast code: 1LVDG1F006E94F2 [device_discovery.cpp] [OnBroadcast] [150]
[2022-03-03 14:58:49.630] [console] [info] LocalIP: 192.168.1.200 [device_discovery.cpp] [OnBroadcast] [201]
[2022-03-03 14:58:49.630] [console] [info] DeviceIP: 192.168.1.81 [device_discovery.cpp] [OnBroadcast] [202]
[2022-03-03 14:58:49.630] [console] [info] Command Port: 55501 [device_discovery.cpp] [OnBroadcast] [203]
[2022-03-03 14:58:49.630] [console] [info] Data Port: 56001 [device_discovery.cpp] [OnBroadcast] [204]
[2022-03-03 14:58:49.653] [console] [info] New Device [device_discovery.cpp] [OnData] [99]
[2022-03-03 14:58:49.654] [console] [info] Handle: 0 [device_discovery.cpp] [OnData] [100]
[2022-03-03 14:58:49.654] [console] [info] Broadcast Code: 1LVDG1F006E94F2 [device_discovery.cpp] [OnData] [101]
[2022-03-03 14:58:49.654] [console] [info] Type: 1 [device_discovery.cpp] [OnData] [102]
[2022-03-03 14:58:49.654] [console] [info] IP: 192.168.1.81 [device_discovery.cpp] [OnData] [103]
[2022-03-03 14:58:49.654] [console] [info] Command Port: 55501 [device_discovery.cpp] [OnData] [104]
[2022-03-03 14:58:49.654] [console] [info] Data Port: 56001 [device_discovery.cpp] [OnData] [105]
[2022-03-03 14:58:49.654] [console] [info] Send Command: Set 0 Id 2 Seq 3 [command_channel.cpp] [Send] [243]
[2022-03-03 14:58:49.677] [console] [info] Recieve Ack: Set 0 Id 2 Seq 3 [command_handler.cpp] [OnCommand] [118]
Lidar[1LVDG1F006E94F2] status_code[0] working state[5] feature[0]
[2022-03-03 14:58:49.678] [console] [info] Send Command: Set 0 Id 2 Seq 4 [command_channel.cpp] [Send] [243]
[2022-03-03 14:58:49.701] [console] [info] Update State to 1, device connect true [device_manager.cpp] [UpdateDeviceState] [281]
Lidar[1LVDG1F006E94F2] status_code[0] working state[1] feature[0]
[2022-03-03 14:58:49.702] [console] [info] Recieve Ack: Set 0 Id 2 Seq 4 [command_handler.cpp] [OnCommand] [118]
firmware version: 3.8.0.0
[2022-03-03 14:58:49.702] [console] [info] Send Command: Set 0 Id 5 Seq 6 [command_channel.cpp] [Send] [243]
[2022-03-03 14:58:49.725] [console] [info] Recieve Ack: Set 0 Id 5 Seq 6 [command_handler.cpp] [OnCommand] [118]
Set coordinate success!
[2022-03-03 14:58:49.726] [console] [info] Send Command: Set 0 Id 4 Seq 7 [command_channel.cpp] [Send] [243]
Lidar[0][1LVDG1F006E94F2] DataType[0] timestamp_type[4] PacketInterval[1000000] PublishPackets[100]
Lidar[0][1LVDG1F006E94F2] storage queue size : 200 256
[2022-03-03 14:58:49.750] [console] [info] Recieve Ack: Set 0 Id 4 Seq 7 [command_handler.cpp] [OnCommand] [118]
Lidar start sample success
[2022-03-03 14:58:49.767] [console] [info] Broadcast broadcast code: 1LVDG1F006E94F1 [device_discovery.cpp] [OnBroadcast] [150]
[2022-03-03 14:58:49.767] [console] [info] LocalIP: 192.168.1.200 [device_discovery.cpp] [OnBroadcast] [201]
[2022-03-03 14:58:49.767] [console] [info] DeviceIP: 192.168.1.78 [device_discovery.cpp] [OnBroadcast] [202]
[2022-03-03 14:58:49.767] [console] [info] Command Port: 55502 [device_discovery.cpp] [OnBroadcast] [203]
[2022-03-03 14:58:49.767] [console] [info] Data Port: 56002 [device_discovery.cpp] [OnBroadcast] [204]
[2022-03-03 14:58:49.791] [console] [info] New Device [device_discovery.cpp] [OnData] [99]
[2022-03-03 14:58:49.791] [console] [info] Handle: 1 [device_discovery.cpp] [OnData] [100]
[2022-03-03 14:58:49.791] [console] [info] Broadcast Code: 1LVDG1F006E94F1 [device_discovery.cpp] [OnData] [101]
[2022-03-03 14:58:49.791] [console] [info] Type: 1 [device_discovery.cpp] [OnData] [102]
[2022-03-03 14:58:49.791] [console] [info] IP: 192.168.1.78 [device_discovery.cpp] [OnData] [103]
[2022-03-03 14:58:49.791] [console] [info] Command Port: 55502 [device_discovery.cpp] [OnData] [104]
[2022-03-03 14:58:49.791] [console] [info] Data Port: 56002 [device_discovery.cpp] [OnData] [105]
[2022-03-03 14:58:49.791] [console] [info] Send Command: Set 0 Id 2 Seq 9 [command_channel.cpp] [Send] [243]
[2022-03-03 14:58:49.814] [console] [info] Recieve Ack: Set 0 Id 2 Seq 9 [command_handler.cpp] [OnCommand] [118]
Lidar[1LVDG1F006E94F1] status_code[0] working state[5] feature[0]
[2022-03-03 14:58:49.815] [console] [info] Send Command: Set 0 Id 2 Seq 10 [command_channel.cpp] [Send] [243]
[ INFO] [1646341129.826606767]: Support only one topic.
[ INFO] [1646341129.827782802]: livox/lidar publish use PointCloud2 format, set ROS publisher queue size 256
[DEBUG] [1646341129.827830892]: Trying to publish message of type [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181] on a publisher with type [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]
[2022-03-03 14:58:49.838] [console] [info] Update State to 1, device connect true [device_manager.cpp] [UpdateDeviceState] [281]
Lidar[1LVDG1F006E94F1] status_code[0] working state[1] feature[0]
[2022-03-03 14:58:49.839] [console] [info] Recieve Ack: Set 0 Id 2 Seq 10 [command_handler.cpp] [OnCommand] [118]
firmware version: 3.8.0.0
[2022-03-03 14:58:49.839] [console] [info] Send Command: Set 0 Id 5 Seq 12 [command_channel.cpp] [Send] [243]
[2022-03-03 14:58:49.862] [console] [info] Recieve Ack: Set 0 Id 5 Seq 12 [command_handler.cpp] [OnCommand] [118]
Set coordinate success!
[2022-03-03 14:58:49.863] [console] [info] Send Command: Set 0 Id 4 Seq 13 [command_channel.cpp] [Send] [243]
Lidar[1][1LVDG1F006E94F1] DataType[0] timestamp_type[4] PacketInterval[1000000] PublishPackets[100]
Lidar[1][1LVDG1F006E94F1] storage queue size : 200 256
[2022-03-03 14:58:49.887] [console] [info] Recieve Ack: Set 0 Id 4 Seq 13 [command_handler.cpp] [OnCommand] [118]
Lidar start sample success
QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)
[2022-03-03 14:58:50.487] [console] [info] Broadcast broadcast code: 1LVDG1F006E94F3 [device_discovery.cpp] [OnBroadcast] [150]
[2022-03-03 14:58:50.487] [console] [info] LocalIP: 192.168.1.200 [device_discovery.cpp] [OnBroadcast] [201]
[2022-03-03 14:58:50.487] [console] [info] DeviceIP: 192.168.1.151 [device_discovery.cpp] [OnBroadcast] [202]
[2022-03-03 14:58:50.487] [console] [info] Command Port: 55503 [device_discovery.cpp] [OnBroadcast] [203]
[2022-03-03 14:58:50.487] [console] [info] Data Port: 56003 [device_discovery.cpp] [OnBroadcast] [204]
[2022-03-03 14:58:50.511] [console] [info] New Device [device_discovery.cpp] [OnData] [99]
[2022-03-03 14:58:50.511] [console] [info] Handle: 2 [device_discovery.cpp] [OnData] [100]
[2022-03-03 14:58:50.511] [console] [info] Broadcast Code: 1LVDG1F006E94F3 [device_discovery.cpp] [OnData] [101]
[2022-03-03 14:58:50.511] [console] [info] Type: 1 [device_discovery.cpp] [OnData] [102]
[2022-03-03 14:58:50.511] [console] [info] IP: 192.168.1.151 [device_discovery.cpp] [OnData] [103]
[2022-03-03 14:58:50.511] [console] [info] Command Port: 55503 [device_discovery.cpp] [OnData] [104]
[2022-03-03 14:58:50.511] [console] [info] Data Port: 56003 [device_discovery.cpp] [OnData] [105]
[2022-03-03 14:58:50.512] [console] [info] Send Command: Set 0 Id 2 Seq 15 [command_channel.cpp] [Send] [243]
[2022-03-03 14:58:50.535] [console] [info] Recieve Ack: Set 0 Id 2 Seq 15 [command_handler.cpp] [OnCommand] [118]
Lidar[1LVDG1F006E94F3] status_code[0] working state[5] feature[0]
[2022-03-03 14:58:50.535] [console] [info] Send Command: Set 0 Id 2 Seq 17 [command_channel.cpp] [Send] [243]
[2022-03-03 14:58:50.559] [console] [info] Recieve Ack: Set 0 Id 2 Seq 17 [command_handler.cpp] [OnCommand] [118]
firmware version: 3.8.0.0
[2022-03-03 14:58:50.631] [console] [info] Update State to 1, device connect true [device_manager.cpp] [UpdateDeviceState] [281]
Lidar[1LVDG1F006E94F3] status_code[0] working state[1] feature[0]
[2022-03-03 14:58:50.631] [console] [info] Send Command: Set 0 Id 5 Seq 19 [command_channel.cpp] [Send] [243]
[2022-03-03 14:58:50.655] [console] [info] Recieve Ack: Set 0 Id 5 Seq 19 [command_handler.cpp] [OnCommand] [118]
Set coordinate success!
[2022-03-03 14:58:50.655] [console] [info] Send Command: Set 0 Id 4 Seq 20 [command_channel.cpp] [Send] [243]
Lidar[2][1LVDG1F006E94F3] DataType[0] timestamp_type[4] PacketInterval[1000000] PublishPackets[100]
Lidar[2][1LVDG1F006E94F3] storage queue size : 200 256
[2022-03-03 14:58:50.679] [console] [info] Recieve Ack: Set 0 Id 4 Seq 20 [command_handler.cpp] [OnCommand] [118]
Lidar start sample success
[ INFO] [1646341130.746118575]: lidar time error
[ INFO] [1646341130.757423145]: lidar time error
[ INFO] [1646341130.845873293]: lidar time error
[ INFO] [1646341130.858127104]: lidar time error
[ INFO] [1646341130.946006016]: lidar time error
[ INFO] [1646341131.046052235]: lidar time error
[ INFO] [1646341131.145953805]: lidar time error
[ INFO] [1646341131.217807930]: lidar time error
[ INFO] [1646341131.317673388]: lidar time error
[ INFO] [1646341131.416870814]: lidar time error
[ INFO] [1646341131.516903146]: lidar time error
[ INFO] [1646341131.545988876]: lidar time error
[ INFO] [1646341131.616861653]: lidar time error
[ INFO] [1646341131.644794008]: lidar time error
[ INFO] [1646341131.717835932]: lidar time error
[ INFO] [1646341131.744853661]: lidar time error
[ INFO] [1646341131.817780036]: lidar time error
[ INFO] [1646341131.845093100]: lidar time error
[ INFO] [1646341131.945003815]: lidar time error
[ INFO] [1646341132.045502833]: lidar time error
[ INFO] [1646341132.145414148]: lidar time error
[ INFO] [1646341132.244895458]: lidar time error
[ INFO] [1646341132.344956981]: lidar time error
[ INFO] [1646341132.417849879]: lidar time error
[ INFO] [1646341132.444901013]: lidar time error
[ INFO] [1646341132.516902110]: lidar time error
[ INFO] [1646341132.545841440]: lidar time error
[ INFO] [1646341132.617236934]: lidar time error
[ INFO] [1646341132.645859523]: lidar time error
[ INFO] [1646341133.645989504]: lidar time error
[ INFO] [1646341133.717797170]: lidar time error
[ INFO] [1646341133.745239013]: lidar time error
[ INFO] [1646341133.816897733]: lidar time error
[ INFO] [1646341133.844838364]: lidar time error
[ INFO] [1646341133.916855791]: lidar time error
[ INFO] [1646341133.944888916]: lidar time error
[ INFO] [1646341134.016885104]: lidar time error
[ INFO] [1646341134.044855308]: lidar time error
[ INFO] [1646341134.116824828]: lidar time error
[ INFO] [1646341134.144757157]: lidar time error
[ INFO] [1646341134.216938019]: lidar time error
[ INFO] [1646341134.244902089]: lidar time error
[ INFO] [1646341134.317799081]: lidar time error
[ INFO] [1646341134.344857705]: lidar time error
[ INFO] [1646341134.417761007]: lidar time error
[ INFO] [1646341134.444834893]: lidar time error
[ INFO] [1646341134.517819082]: lidar time error
[ INFO] [1646341134.545788561]: lidar time error
[ INFO] [1646341134.645887076]: lidar time error
Uart is disconnected, close it
Open /dev/RS232_to_USB success!
[ INFO] [1646341134.745946112]: lidar time error
[ INFO] [1646341134.845887342]: lidar time error
[ INFO] [1646341135.016875837]: lidar time error
[ INFO] [1646341135.116890027]: lidar time error
[ INFO] [1646341135.217044862]: lidar time error
[ INFO] [1646341135.316895616]: lidar time error
[ INFO] [1646341135.416945126]: lidar time error
[ INFO] [1646341135.517948690]: lidar time error
[ INFO] [1646341135.745947832]: lidar time error
[ INFO] [1646341135.844905078]: lidar time error
[ INFO] [1646341135.944978902]: lidar time error
[ INFO] [1646341136.045163831]: lidar time error
[ INFO] [1646341136.144969615]: lidar time error
[ INFO] [1646341136.217914398]: lidar time error
[ INFO] [1646341136.245208579]: lidar time error
[ INFO] [1646341136.316838691]: lidar time error
[ INFO] [1646341136.345767047]: lidar time error
[ INFO] [1646341136.845942037]: lidar time error
[ INFO] [1646341136.945873658]: lidar time error
[ INFO] [1646341137.045972386]: lidar time error
[ INFO] [1646341137.145875441]: lidar time error
[ INFO] [1646341137.247077410]: lidar time error
[ INFO] [1646341137.351669555]: lidar time error
[ INFO] [1646341137.417896804]: lidar time error
[ INFO] [1646341137.516985501]: lidar time error
[ INFO] [1646341137.617224064]: lidar time error
[ INFO] [1646341137.716964410]: lidar time error
Uart is disconnected, close it
Open /dev/RS232_to_USB success!
[ INFO] [1646341137.816949688]: lidar time error
[ INFO] [1646341137.845785201]: lidar time error
[ INFO] [1646341137.917094516]: lidar time error
[ INFO] [1646341137.945131945]: lidar time error
[ INFO] [1646341138.017761742]: lidar time error
[ INFO] [1646341138.045283978]: lidar time error
[ INFO] [1646341138.117834840]: lidar time error
[ INFO] [1646341138.144895812]: lidar time error
[ INFO] [1646341138.217810271]: lidar time error
[ INFO] [1646341138.245085678]: lidar time error
[ INFO] [1646341138.317862958]: lidar time error
[ INFO] [1646341138.344883459]: lidar time error
[ INFO] [1646341138.444925618]: lidar time error
[ INFO] [1646341138.545269819]: lidar time error
[ INFO] [1646341138.644959218]: lidar time error
[ INFO] [1646341138.717891109]: lidar time error
[ INFO] [1646341138.816884752]: lidar time error
[ INFO] [1646341138.916852581]: lidar time error
[ INFO] [1646341139.016942666]: lidar time error
[ INFO] [1646341139.116901799]: lidar time error
[ INFO] [1646341139.216941533]: lidar time error
[ INFO] [1646341139.945875538]: lidar time error
[ INFO] [1646341140.017830686]: lidar time error
[ INFO] [1646341140.044709818]: lidar time error
[ INFO] [1646341140.116933856]: lidar time error
[ INFO] [1646341140.144761846]: lidar time error
[ INFO] [1646341140.217312614]: lidar time error
[ INFO] [1646341140.245230152]: lidar time error
[ INFO] [1646341140.344826074]: lidar time error
[ INFO] [1646341140.444857868]: lidar time error
[ INFO] [1646341140.544844223]: lidar time error
[ INFO] [1646341140.644857022]: lidar time error
[ INFO] [1646341140.745837990]: lidar time error
[ INFO] [1646341140.845934690]: lidar time error
Uart is disconnected, close it
Open /dev/RS232_to_USB success!
[ INFO] [1646341140.946016212]: lidar time error
[ INFO] [1646341141.045855643]: lidar time error
[ INFO] [1646341141.145858257]: lidar time error
[ INFO] [1646341141.218776364]: lidar time error
[ INFO] [1646341141.317371551]: lidar time error
[ INFO] [1646341141.416892346]: lidar time error
[ INFO] [1646341141.516963775]: lidar time error
[ INFO] [1646341141.617015814]: lidar time error
[ INFO] [1646341141.716995149]: lidar time error
[ INFO] [1646341141.816914314]: lidar time error
[ INFO] [1646341141.917836705]: lidar time error
[ INFO] [1646341141.945781181]: lidar time error
[ INFO] [1646341142.018285706]: lidar time error
[ INFO] [1646341142.044898647]: lidar time error
[ INFO] [1646341142.118325693]: lidar time error
[ INFO] [1646341142.144813864]: lidar time error
[ INFO] [1646341142.244900987]: lidar time error
[ INFO] [1646341142.344982015]: lidar time error
[ INFO] [1646341142.444885119]: lidar time error
[ INFO] [1646341142.616843594]: lidar time error
[ INFO] [1646341142.716884075]: lidar time error
[ INFO] [1646341142.817155322]: lidar time error
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[ INFO] [1646341143.945706814]: lidar time error
Uart is disconnected, close it
[ INFO] [1646341144.017018963]: lidar time error
[ INFO] [1646341144.044966439]: lidar time error
Open /dev/RS232_to_USB success!
[ INFO] [1646341144.144880121]: lidar time error
[ INFO] [1646341144.245236198]: lidar time error
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[ INFO] [1646341145.316864637]: lidar time error
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[ INFO] [1646341145.517530996]: lidar time error
[ INFO] [1646341145.619509061]: lidar time error
[ INFO] [1646341145.717768699]: lidar time error
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[ INFO] [1646341146.417633824]: lidar time error
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[ INFO] [1646341146.745262802]: lidar time error
[ INFO] [1646341146.845312355]: lidar time error
[ INFO] [1646341146.946462745]: lidar time error
[ INFO] [1646341147.045830400]: lidar time error
Uart is disconnected, close it
[ INFO] [1646341147.145886330]: lidar time error
Open /dev/RS232_to_USB success!
[ INFO] [1646341147.245819757]: lidar time error
[ INFO] [1646341147.345798914]: lidar time error
[ INFO] [1646341147.445978353]: lidar time error
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[ INFO] [1646341147.717248373]: lidar time error
[ INFO] [1646341147.745683126]: lidar time error
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[ INFO] [1646341147.845720758]: lidar time error
[ INFO] [1646341147.917650859]: lidar time error
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[ INFO] [1646341148.145996156]: lidar time error
[ INFO] [1646341148.245719509]: lidar time error
[ INFO] [1646341148.344783370]: lidar time error
[ INFO] [1646341148.444910179]: lidar time error
[ INFO] [1646341148.544829946]: lidar time error
[ INFO] [1646341148.644987621]: lidar time error
[ INFO] [1646341148.745186794]: lidar time error
[ INFO] [1646341148.817858633]: lidar time error
[ INFO] [1646341148.845848703]: lidar time error
[ INFO] [1646341148.916976154]: lidar time error
[ INFO] [1646341148.945687310]: lidar time error
[ INFO] [1646341149.018387854]: lidar time error
[ INFO] [1646341149.045827915]: lidar time error
[ INFO] [1646341149.117289845]: lidar time error
[ INFO] [1646341149.145788216]: lidar time error
[ INFO] [1646341149.216918767]: lidar time error
[ INFO] [1646341149.245755962]: lidar time error
[ INFO] [1646341149.316883187]: lidar time error
[ INFO] [1646341149.345769302]: lidar time error
[ INFO] [1646341149.416988033]: lidar time error
[ INFO] [1646341149.445897589]: lidar time error
[ INFO] [1646341149.517080030]: lidar time error
[ INFO] [1646341149.545813962]: lidar time error
[ INFO] [1646341149.618408977]: lidar time error
[ INFO] [1646341149.645704097]: lidar time error
[ INFO] [1646341149.717872148]: lidar time error
[ INFO] [1646341149.745805314]: lidar time error
[ INFO] [1646341149.817961249]: lidar time error
[ INFO] [1646341149.845809607]: lidar time error
[ INFO] [1646341150.116995664]: lidar time error
[ INFO] [1646341150.217002776]: lidar time error
Uart is disconnected, close it
[ INFO] [1646341150.244801103]: lidar time error
Open /dev/RS232_to_USB success!
[ INFO] [1646341150.348323647]: lidar time error
[ INFO] [1646341150.444967798]: lidar time error
[ INFO] [1646341150.544917670]: lidar time error
[ INFO] [1646341150.644835458]: lidar time error
[ INFO] [1646341150.744899147]: lidar time error
[ INFO] [1646341150.844984968]: lidar time error
[ INFO] [1646341150.944946985]: lidar time error
[ INFO] [1646341151.045974130]: lidar time error
[ INFO] [1646341151.147827408]: lidar time error
[ INFO] [1646341151.245942906]: lidar time error
[ INFO] [1646341151.317865939]: lidar time error
[ INFO] [1646341151.346171764]: lidar time error
[ INFO] [1646341151.416839983]: lidar time error
[ INFO] [1646341151.445758598]: lidar time error
[ INFO] [1646341151.517087041]: lidar time error
[ INFO] [1646341151.545724176]: lidar time error
[ INFO] [1646341151.616998583]: lidar time error
[ INFO] [1646341151.645705015]: lidar time error
[ INFO] [1646341151.717358255]: lidar time error
[ INFO] [1646341151.745812830]: lidar time error
[ INFO] [1646341152.245869455]: lidar time error
[ INFO] [1646341152.344878518]: lidar time error
[ INFO] [1646341152.444950253]: lidar time error
[ INFO] [1646341152.517954949]: lidar time error
[ INFO] [1646341152.544835614]: lidar time error
[ INFO] [1646341152.617190047]: lidar time error
[ INFO] [1646341152.644722768]: lidar time error
[ INFO] [1646341152.717056428]: lidar time error
[ INFO] [1646341152.744782478]: lidar time error
[ INFO] [1646341152.816973434]: lidar time error
[ INFO] [1646341152.844788838]: lidar time error
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[ INFO] [1646341153.016958030]: lidar time error
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[ INFO] [1646341153.116950514]: lidar time error
[ INFO] [1646341153.147474778]: lidar time error
[ INFO] [1646341153.216945574]: lidar time error
[ INFO] [1646341153.245711167]: lidar time error
[ INFO] [1646341153.317861842]: lidar time error
[ INFO] [1646341153.345710143]: lidar time error
Uart is disconnected, close it
Open /dev/RS232_to_USB success!
[ INFO] [1646341153.417896164]: lidar time error
[ INFO] [1646341153.445752774]: lidar time error
[ INFO] [1646341153.517918545]: lidar time error
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[ INFO] [1646341153.617865860]: lidar time error
[ INFO] [1646341153.645763583]: lidar time error
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[ INFO] [1646341154.345929190]: lidar time error
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[ INFO] [1646341154.744894375]: lidar time error
[ INFO] [1646341154.844827312]: lidar time error
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[ INFO] [1646341155.145931886]: lidar time error
[ INFO] [1646341155.216873236]: lidar time error
[ INFO] [1646341155.246318023]: lidar time error
[ INFO] [1646341155.316847018]: lidar time error
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[ INFO] [1646341155.416965248]: lidar time error
[ INFO] [1646341155.445796247]: lidar time error
[ INFO] [1646341155.517048198]: lidar time error
[ INFO] [1646341155.545763045]: lidar time error
[ INFO] [1646341155.617630925]: lidar time error
[ INFO] [1646341155.645804475]: lidar time error
[ INFO] [1646341156.345854149]: lidar time error
[ INFO] [1646341156.418851573]: lidar time error
[ INFO] [1646341156.444692296]: lidar time error
Uart is disconnected, close it
Open /dev/RS232_to_USB success!
[ INFO] [1646341156.516982407]: lidar time error
[ INFO] [1646341156.544852613]: lidar time error
[ INFO] [1646341156.616954666]: lidar time error
[ INFO] [1646341156.644763990]: lidar time error
[ INFO] [1646341156.716996273]: lidar time error
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[ INFO] [1646341156.944771446]: lidar time error
[ INFO] [1646341157.016967773]: lidar time error
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[ INFO] [1646341157.117122971]: lidar time error
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[ INFO] [1646341157.217971977]: lidar time error
[ INFO] [1646341157.245769124]: lidar time error
[ INFO] [1646341157.317819460]: lidar time error
[ INFO] [1646341157.345631326]: lidar time error
[ INFO] [1646341157.417826699]: lidar time error
[ INFO] [1646341157.445686180]: lidar time error
[ INFO] [1646341157.546510300]: lidar time error
[ INFO] [1646341158.445828771]: lidar time error
[ INFO] [1646341158.544849986]: lidar time error
[ INFO] [1646341158.644767026]: lidar time error
[ INFO] [1646341158.744723234]: lidar time error
[ INFO] [1646341158.863924624]: lidar time error
[ INFO] [1646341158.917818726]: lidar time error
[ INFO] [1646341158.944653899]: lidar time error
[ INFO] [1646341159.017024310]: lidar time error
[ INFO] [1646341159.045324094]: lidar time error
[ INFO] [1646341159.117143053]: lidar time error
[ INFO] [1646341159.144746682]: lidar time error
[ INFO] [1646341159.217254883]: lidar time error
[ INFO] [1646341159.245653282]: lidar time error
[ INFO] [1646341159.316873167]: lidar time error
[ INFO] [1646341159.368486451]: lidar time error
[ INFO] [1646341159.416864844]: lidar time error
[ INFO] [1646341159.445715435]: lidar time error
[ INFO] [1646341159.545821950]: lidar time error
Uart is disconnected, close it
Open /dev/RS232_to_USB success!
[ INFO] [1646341159.645704890]: lidar time error
[ INFO] [1646341159.745751899]: lidar time error
[ INFO] [1646341159.849222900]: lidar time error
[ INFO] [1646341159.945780161]: lidar time error
[ INFO] [1646341160.045818684]: lidar time error
[ INFO] [1646341160.117977145]: lidar time error
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[ INFO] [1646341160.328779566]: lidar time error
[ INFO] [1646341160.417537760]: lidar time error
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[ INFO] [1646341160.617310024]: lidar time error
[ INFO] [1646341160.644752067]: lidar time error
[ INFO] [1646341160.716919100]: lidar time error
[ INFO] [1646341160.744881392]: lidar time error
[ INFO] [1646341160.816945488]: lidar time error
[ INFO] [1646341160.845129863]: lidar time error
[ INFO] [1646341160.917012158]: lidar time error
[ INFO] [1646341160.944711389]: lidar time error
[ INFO] [1646341161.017959641]: lidar time error
[ INFO] [1646341161.044727279]: lidar time error
[ INFO] [1646341161.118414424]: lidar time error
[ INFO] [1646341161.144770875]: lidar time error
[ INFO] [1646341161.218222077]: lidar time error
[ INFO] [1646341161.244800361]: lidar time error
[ INFO] [1646341161.317835168]: lidar time error
[ INFO] [1646341161.345741987]: lidar time error
[ INFO] [1646341161.416935875]: lidar time error
[ INFO] [1646341162.617812819]: lidar time error
[ INFO] [1646341162.645644680]: lidar time error
Uart is disconnected, close it
[ INFO] [1646341162.731885188]: lidar time error
[ INFO] [1646341162.744734870]: lidar time error
Open /dev/RS232_to_USB success!
[ INFO] [1646341162.816846123]: lidar time error
[ INFO] [1646341162.863737114]: lidar time error
[ INFO] [1646341162.916860605]: lidar time error
[ INFO] [1646341162.945280140]: lidar time error
[ INFO] [1646341163.044736078]: lidar time error
[ INFO] [1646341163.117454124]: lidar time error
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[ INFO] [1646341163.216990884]: lidar time error
[ INFO] [1646341163.244714831]: lidar time error
[ INFO] [1646341163.345719803]: lidar time error
[ INFO] [1646341163.445739775]: lidar time error
[ INFO] [1646341163.545811365]: lidar time error
[ INFO] [1646341163.660675507]: lidar time error
[ INFO] [1646341163.745855574]: lidar time error
[ INFO] [1646341163.822495341]: lidar time error
[ INFO] [1646341163.845569308]: lidar time error
[ INFO] [1646341163.917839893]: lidar time error
[ INFO] [1646341164.016891166]: lidar time error
[ INFO] [1646341164.144176902]: lidar time error
[ INFO] [1646341164.216911721]: lidar time error
[ INFO] [1646341164.316902550]: lidar time error
[ INFO] [1646341164.417469371]: lidar time error
[ INFO] [1646341164.516898808]: lidar time error
[ INFO] [1646341164.645879882]: lidar time error
[ INFO] [1646341164.716945891]: lidar time error
[ INFO] [1646341164.744690186]: lidar time error
[ INFO] [1646341164.817829644]: lidar time error
[ INFO] [1646341164.844681786]: lidar time error
[ INFO] [1646341164.942397110]: lidar time error
[ INFO] [1646341164.945653447]: lidar time error
[ INFO] [1646341165.044756879]: lidar time error
[ INFO] [1646341165.144704815]: lidar time error
[ INFO] [1646341165.221935511]: lidar time error
[ INFO] [1646341165.263278824]: lidar time error
[ INFO] [1646341165.316988550]: lidar time error
[ INFO] [1646341165.424287127]: lidar time error
Uart is disconnected, close it
Open /dev/RS232_to_USB success!
[ INFO] [1646341166.064024934]: lidar time error
[ INFO] [1646341166.145758553]: lidar time error
[ INFO] [1646341166.223735286]: lidar time error
[ INFO] [1646341166.245591098]: lidar time error
[ INFO] [1646341166.347159263]: lidar time error
[ INFO] [1646341166.417845868]: lidar time error
[ INFO] [1646341166.540760474]: lidar time error
[ INFO] [1646341166.616778345]: lidar time error
[ INFO] [1646341166.725969426]: lidar time error
[ INFO] [1646341166.745642580]: lidar time error
[ INFO] [1646341166.816817692]: lidar time error
[ INFO] [1646341166.863714573]: lidar time error
[ INFO] [1646341166.927985813]: lidar time error
[ INFO] [1646341166.944647450]: lidar time error
[ INFO] [1646341167.024257988]: lidar time error
[ INFO] [1646341167.044735813]: lidar time error
[ INFO] [1646341167.145285682]: lidar time error
[ INFO] [1646341167.244762614]: lidar time error
[ INFO] [1646341167.344788429]: lidar time error
[ INFO] [1646341167.444767824]: lidar time error
[ INFO] [1646341167.545728948]: lidar time error
[ INFO] [1646341167.645720973]: lidar time error
[ INFO] [1646341167.717776500]: lidar time error
[ INFO] [1646341167.819702278]: lidar time error
[ INFO] [1646341167.916767587]: lidar time error
[ INFO] [1646341168.016785368]: lidar time error
[ INFO] [1646341168.117140842]: lidar time error
[ INFO] [1646341168.216841270]: lidar time error
[ INFO] [1646341168.317090316]: lidar time error
[ INFO] [1646341168.416891268]: lidar time error
[ INFO] [1646341168.517112323]: lidar time error
[ INFO] [1646341168.748495747]: lidar time error
[ INFO] [1646341168.845990011]: lidar time error
[ INFO] [1646341168.940346005]: lidar time error
[ INFO] [1646341168.944714114]: lidar time error
[ INFO] [1646341169.038624334]: lidar time error
Uart is disconnected, close it
[ INFO] [1646341169.044678964]: lidar time error
Open /dev/RS232_to_USB success!
[ INFO] [1646341169.136720141]: lidar time error
[ INFO] [1646341169.325247168]: lidar time error
[ INFO] [1646341169.344727131]: lidar time error
[ INFO] [1646341169.445132221]: lidar time error
[ INFO] [1646341169.545960219]: lidar time error
[ INFO] [1646341169.645767834]: lidar time error
[ INFO] [1646341169.745839160]: lidar time error
[ INFO] [1646341169.848126080]: lidar time error
[ INFO] [1646341169.945912000]: lidar time error
[ INFO] [1646341170.045830137]: lidar time error
[ INFO] [1646341170.145642484]: lidar time error
[ INFO] [1646341170.217781549]: lidar time error
[ INFO] [1646341170.316801825]: lidar time error
[ INFO] [1646341170.417011146]: lidar time error
[ INFO] [1646341170.516907530]: lidar time error
[ INFO] [1646341170.616813009]: lidar time error
[ INFO] [1646341170.716808107]: lidar time error
[ INFO] [1646341170.839368100]: lidar time error
[ INFO] [1646341170.845692918]: lidar time error
[ INFO] [1646341170.941298186]: lidar time error
[ INFO] [1646341170.944930618]: lidar time error
[ INFO] [1646341171.044817347]: lidar time error
[ INFO] [1646341171.148454581]: lidar time error
[ INFO] [1646341171.253203627]: lidar time error
[ INFO] [1646341171.359486488]: lidar time error
[ INFO] [1646341171.417785647]: lidar time error
[ INFO] [1646341171.517192934]: lidar time error
[ INFO] [1646341171.618193079]: lidar time error
[ INFO] [1646341171.721599140]: lidar time error
[ INFO] [1646341171.929074407]: lidar time error
[ INFO] [1646341172.032602327]: lidar time error
[ INFO] [1646341172.136801938]: lidar time error
Uart is disconnected, close it
Open /dev/RS232_to_USB success!
[ INFO] [1646341172.242324019]: lidar time error
[ INFO] [1646341172.317048514]: lidar time error
[ INFO] [1646341172.554902414]: lidar time error
[ INFO] [1646341172.657428550]: lidar time error
[ INFO] [1646341172.717993495]: lidar time error
[ INFO] [1646341172.816734082]: lidar time error
[ INFO] [1646341173.021184090]: lidar time error
[ INFO] [1646341173.044669204]: lidar time error
[ INFO] [1646341173.125552201]: lidar time error
[ INFO] [1646341173.144614634]: lidar time error
[ INFO] [1646341173.246941142]: lidar time error
[ INFO] [1646341173.344708628]: lidar time error
[ INFO] [1646341173.444606974]: lidar time error
[ INFO] [1646341173.544867098]: lidar time error
[ INFO] [1646341173.645583187]: lidar time error
[ INFO] [1646341173.752368751]: lidar time error
[ INFO] [1646341173.853637725]: lidar time error
^C[rviz2-5] killing on exit
[livox_mapping_case-4] killing on exit
[apx15_gsof_driver-3] killing on exit
[rviz-2] killing on exit
[livox_lidar_publisher-1] killing on exit
livox ros driver will exit
[livox_lidar_publisher-1] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done
power supply
Can you share the connection of 24V power supply?
about lidar to map coordination transform
livox_mapping_case.cpp line 332: trans = rtk2lidar * T1.inverse() * T * rtk2lidar.inverse();
why need the first rtk2lidar?
in my opinion, T1.inverse() * T stands rtk to map,
rtk2lidar.inverse() stands lidar to rtk,so lidar to map should be T1.inverse() * T * rtk2lidar.inverse()?
能否使用avia的内置imu参与建图？外部只提供GNSS
这个算法能否适配livox其他内置imu的雷达？
Is this suitable for ground vehicle?
I intend to try some high precision mapping solutions for my car. With this, I'll use OpenRTK330LI or a NovAvel receiver for IMU data. Is this repo viable for my case, i.e ground mapping?
Sample data & frequency of messages
Two questions:
1. Can anyone share or link to some working sample data to help test vs my setup?
2. Can you say what the publish frequency for the IMU & NavSatFix messages should be to make this work well? (e.g. IMU could be 100-200Hz easily. But NavSatFix may be ~4Hz if coming from the raw GPS messages or much faster if it actually comes from a fused output from the INS module.)
EDIT: I just saw this issue about the sample data - so my 1st question is answered.
I'd still like a response to Q2 if possible :-)
IMU能否使用Inertial Sense的 IS-uINS-G2-RUG
官网的案例介绍里面用的Inertial Sense的 IS-uINS-G2-RUG，价格也相对便宜，能否使用该传感器应用此案例？
bag file for testing the package
Hii,
I would like to test the current package and adapt it to my requirement. So if any one can provide the bag file on which this package worked perfectly would be great and would help me to understand this package in much deeper level.
Thanks,
Krishna.
Livox Viewer安装包无法在Ubuntu16.04下安装
大疆您好，
我使用Manifold 2-G，系统是Ubuntu16.04，在https://www.livoxtech.com/downloads下载了Livox Viewer 0.8.0(64bit) - Ubuntu 16.04，解压后按照说明文档安装，出现报错：“line 11: ./so/livox_viewer: cannot execute binary file:Exec foramt error”。我不清楚是说明情况。我通过uname -m指令查了一下系统是aarch64架构，我不清楚我所下载的软件安装包是否适合我？若是安装包的问题，是否可以提供我需要的安装包？如果不是安装包的问题，又什么原因导致的呢？谢谢
CP2102 multi-function module驱动安装不成功
我在安装你们推荐的USB to TTL/RS232 module：CP2102 multi-function module的时候，驱动安装不成功（驱动地址：https://www.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers）。我的操作系统是Ubuntu16.04。驱动安装的使用说明上写的驱动是：“This driver has only been written and tested on the Linux 3.13.0 kernel on Ubuntu 14.04. This driver is a modified version of the existing driver in the Linux 3.13.0 kernel, which is maintained at kernel.org”。我不确定16.04是否适用。
按照驱动的按照指引：第一步"1. make ( your cp210x driver )"，可以正常完成。但是第二步"cp cp210x.ko to /lib/modules//kernel/drivers/usb/serial",我在我的操作系统中找不到/lib/modules//kernel/drivers下的USB文件夹
Terminal下的操作如下：
dji@manifold2:/lib/modules/4.4.38+/kernel/drivers$ pwd
/lib/modules/4.4.38+/kernel/drivers
dji@manifold2:/lib/modules/4.4.38+/kernel/drivers$ ls
ata media misc mtd net pci video
dji@manifold2:/lib/modules/4.4.38+/kernel/drivers$
Affordable OpenRTK330 GNSS/INS integrated module as alternative to APX-15 (Not Issue)
Hi,
Livox_high_precision_mapping is very good FOSS for Livox. However, APX-15 board and the Pospac software are very expensive (more than USD $10,000 just for the APX-15 + PosPac software $ xx,xxxx).
Affordable OpenRTK330 GNSS/INS integrated module as alternative to APX-15
ACEINNA’s OpenRTK330L integrates a triple-band RTK/GNSS receiver with redundant inertial sensor arrays to provide cm-level accuracy, enhanced reliability, and superior performance during GNSS outages.
ACEINNA Ships $150 High Precision Navigation Solution for Autonomous Vehicles
New ACEINNA OPENRTK Module Rivals Performance of $10,000 Systems
Highly Accurate, OPENRTK Module is extremely reliable, smaller, easier to integrate, and far less expensive
https://www.aceinna.com/newsDetail?id=5e84279f96c44d3f88b0ee2c
https://www.aceinna.com/newsDetail?id=5ee82f713c099038d8e4b79e
OpenRTK Developer Manual
https://openrtk.readthedocs.io/en/latest/setup-OpenRTK.html
Github
https://github.com/Aceinna
OpenRTK Forum
https://forum.aceinna.com/category/9/openrtk
Hope Livox will consider using OpenRTK330 GNSS/INS integrated module as alternative to APX-15.
Thanks.
Noli
坐标变换相关问题
你好。我最近在看这个项目，看到有个地方不解，所以想请教下。
对于这个变换部分 trans = rtk2lidar * T1.inverse() * T * rtk2lidar.inverse()； 如果我没理解错的话，T 包含imu输出的姿态和 相对初始帧的坐标平移（RTK墨卡托投影），T1.inverse() * T * rtk2lidar.inverse()这部分是将当前的lidar坐标系转换到 初始帧的rtk（imu）坐标系下，那么是怎么保证 **相对初始帧的坐标平移（RTK墨卡托投影）**和初始帧的rtk（imu）坐标系是一致的呢？也就是 RTK的经纬度坐标经过墨卡托投影后xy坐标方向怎么保证是和imu坐标系xy方向一致呢？
Saving LVX file
Hi,
I've set up and successfully run this package and I'm able to get an IMU pose adjusted point cloud that I'm happy with to go into further testing (cheers on making this amazing package, Livox team!!!).
My issue is that despite setting the output path in livox_mapping.launch, the .lvx point cloud is not getting written to disk. Any ideas?
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