https://github.com/koide3/livox_to_pointcloud2
https://github.com/koide3/livox_to_pointcloud2
Last synced: over 1 year ago
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- Host: GitHub
- URL: https://github.com/koide3/livox_to_pointcloud2
- Owner: koide3
- Created: 2022-10-11T06:01:03.000Z (almost 4 years ago)
- Default Branch: master
- Last Pushed: 2024-08-31T13:00:58.000Z (almost 2 years ago)
- Last Synced: 2025-02-24T06:03:48.189Z (over 1 year ago)
- Language: C++
- Size: 13.7 KB
- Stars: 70
- Watchers: 1
- Forks: 18
- Open Issues: 1
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Metadata Files:
- Readme: README.md
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README
# livox_to_pointcloud2
This package provides ROS1/ROS2 interfaces to convert ```livox_interfaces::msg::CustomMsg``` into ```sensor_msgs::msg::PointCloud2```.
## Usage
```bash
# 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
## License
This package is released under the MIT license.