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livox_repub's Introduction

livox_repub

republish livox raw message to standard pointcloud2

install

mkdir -p ~/catkin_ws_livox_repub/src
cd ~/catkin_ws_livox_repub/src
git clone https://github.com/zzwu29/livox_repub.git
cd ..
catkin_make

config your message in launch file

The default livox_raw_message_name is "/livox/lidar". livox_points_message_name is "/livox/points".

<launch>
   <node pkg="livox_repub" type="livox_repub_online_node" name="livox_repub_online_node" output="screen" >
      <param name="livox_raw_message_name"    type="string"   value="/livox/lidar" />
      <param name="livox_points_message_name"    type="string"   value="/livox/points" />
   </node>
</launch>

run

terminal - 1

roslaunch livox_repub livox_repub_online.launch

record

terminal - 2

rosbag record /livox/points -O YOUR_BAG_NAME.bag

extract to files

.bag to .pcd

rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>

topic to .pcd

rosrun pcl_ros pointcloud_to_pcd input:=/point_cloud_topic _prefix:=./pcd_save_path

visualize in RVIZ

livox_repub's People

Contributors

kafeiyin00 avatar zzwu29 avatar

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