livox_laser_simulation for ROS2

This is a ros2 port of the original repo: https://github.com/Livox-SDK/livox_laser_simulation.

Tested in ros2 foxy and humble.

In this simulation project, Livox series lidars will publish two types of messages:

livox_ros_driver2/msg/CustomMsg
sensor_msgs/msg/PointCloud2

Therefore, by subscribing to the CustomMsg message, you can use the FAST_LIO algorithm in the your simulation.

Install

1. Clone this repo in your ros2 workspace

   git clone https://github.com/LihanChen2004/livox_laser_simulation_ros2.git
   

2. Follow livox_ros_driver2 Installation

3. build your ros2 workspace (if there are warnings that do not allow the compilation, run the build again and you will see that the error disappears)

   colcon build && source install/setup.bash
   

Usage

1. include the lidar sensor in your URDF file, for example:

   <xacro:include filename="$(find ros2_livox_simulation)/urdf/mid70.xacro" />
   

2. attach the sensor to your robot in the URDF (or xacro) file, for example:

     <xacro:mid70 name="livox" parent="base_link" topic="mid70">
       <origin xyz="0 0 0.025" rpy="0 0 0"/>
     </xacro:mid70>
   

   you need to specify the parent link (usually base_link)

   that's it. the example that i gave you is for mid70, but you can use mid40, mid70, mid360 and so on.

   thanks to the original repo, you can find more info in it.

Example

• PB_RMSimulation

  ROS2-Gazebo simulation package for RoboMaster University Championship

  You can use FAST_LIO by taking it as an example :)