livox_data_loader is a tool for replaying livox datasets, which can replay the data in the dataset into ros2 msg.
At first: you need to download the LivoxOpenDataSet. Then： build this package in an ros2 project and change the path of livoxdataset. Now: you can run the project with the following command： ‘’‘ source ./install/setup.bash ros2 launch data_loader data_loader_launch.py ’‘’
| SENSOR | MODEL | LOCATION | TOPIC NAME | MESSAGE TYPE |
|---|---|---|---|---|
| lidar | Horizon | Front | livox/point_cloud_front | sensor_msgs::msg::PointCloud2 |
| lidar | Horizon | Left front | livox/point_cloud_left_front | sensor_msgs::msg::PointCloud2 |
| lidar | Horizon | Left rear | livox/point_cloud_left_rear | sensor_msgs::msg::PointCloud2 |
| lidar | Horizon | Right rear | livox/point_cloud_right_rear | sensor_msgs::msg::PointCloud2 |
| lidar | Horizon | Right front | livox/point_cloud_right_front | sensor_msgs::msg::PointCloud2 |
| lidar | Tele-15 | Tele | livox/point_cloud_tele | sensor_msgs::msg::PointCloud2 |
| camera | Camera | Front | livox/image_front | sensor_msgs::msg::Image |
| camera | Camera | Left front | livox/image_left_front | sensor_msgs::msg::Image |
| camera | Camera | Left rear | livox/image_left_rear | sensor_msgs::msg::Image |
| camera | Camera | Right rear | livox/image_right_rear | sensor_msgs::msg::Image |
| camera | Camera | Right front | livox/image_right_front | sensor_msgs::msg::Image |
| camera | Long focal | Front | livox/image_tele | sensor_msgs::msg::Image |
| gt | Lidar label | Front | livox/gt | ws_msgs::msg::BboxArray |
publish frequency：10HZ message header stamp： git it from filename
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