Ubuntu 20.04 uses Livox mid 360 to test FAST_LIO

Preface

Livox mid360 needs to be used Livox-SDK2instead of Livox-SDK, and correspondingly livox_ros_driver2. And need to modify some codes in FAST_LIO.

1. Install Livox-SDK2

Refer to the official tutorial .
1.1. Install CMake

sudo apt install cmake

1.2. Install and compile Livox-SDK2

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build && cd build
cmake .. && make -j
sudo make install

Note :
Livox-SDK2 can be downloaded from any location and compiled and installed.

2. Compile the FAST_LIO project

2.1. Create ROS1 project

mkdir fast_lio && cd fast_lio
mkdir src && cd src

2.2. Download the FAST_LIO source code srcin the folder

git clone https://github.com/hku-mars/FAST_LIO.git
cd FAST_LIO
git submodule update --init
cd ../..

2.3. Download the livox_ros_driver2 source code srcin the folder

git clone https://github.com/Livox-SDK/livox_ros_driver2.git

3. Modify FAST_LIO code

3.1. Modify FAST_LIO’s CMakelists.txt
. Before modification:

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  nav_msgs
  sensor_msgs
  roscpp
  rospy
  std_msgs
  pcl_ros
  tf
  livox_ros_driver		# <-修改这里
  message_generation
  eigen_conversions
)

After modification:

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  nav_msgs
  sensor_msgs
  roscpp
  rospy
  std_msgs
  pcl_ros
  tf
  livox_ros_driver2		# <-修改这里
  message_generation
  eigen_conversions
)

3.2. Modify the package.xml of FAST_LIO
. Before modification:

<build_depend>livox_ros_driver</build_depend>
<run_depend>livox_ros_driver</run_depend>

After modification:

<build_depend>livox_ros_driver2</build_depend>
<run_depend>livox_ros_driver2</run_depend>

3.3. Modify the header file reference of FAST_LIO.
Open FAST_LIO/src/preprocess.h and FAST_LIO/src/laserMapping.cpp
respectively . Before modification:

#include <livox_ros_driver/CustomMsg.h>

After modification:

#include <livox_ros_driver2/CustomMsg.h>

3.3. Modify the namespace of FAST_LIO.
Open the namespaces in FAST_LIO/src/preprocess.h , FAST_LIO/src/preprocess.cpp , and FAST_LIO/src/laserMapping.cpp respectively
. There are many places that need to be modified . Before modification:

livox_ros_driver::

After modification:

livox_ros_driver2::

4. Compile project

Use the following instructions to compile in fast_lio/src/livox_ros_driver2   in the project directory . Do not use it directly.catkin_make

cd src/livox_ros_driver2
./build.sh ROS1

  The compilation is successful as shown below.

  If there is still a compilation error message, it means that livox_ros_driver:: has not all been changed to livox_ros_driver2:: , as shown below:

5. Modify the configuration of Livox mid360

Refer to the official tutorial .

5.1. Modify the computer IP address
  . It is recommended that the computer IP be changed to 192.168.1.5. Otherwise, the corresponding computer IP in the configuration file below needs to be modified. It does not matter whether the DNS address is written or not.

5.2. Modify Livox mid360 IP
  and open the file fast_lio/src/livox_ros_driver2/config/MID360_config.json . The IP of Livox mid360 has been fixed after leaving the factory. Look at the SN code under the QR code on it. Add a 1 in front of the last two numbers to get the corresponding IP. (For example, if the last two digits of the SN code are 12, then its corresponding IP address is 192.168.1.112).

{
    
    
  "lidar_summary_info" : {
    
    
    "lidar_type": 8
  },
  "MID360": {
    
    
    "lidar_net_info" : {
    
    
      "cmd_data_port": 56100,
      "push_msg_port": 56200,
      "point_data_port": 56300,
      "imu_data_port": 56400,
      "log_data_port": 56500
    },
    "host_net_info" : {
    
    
      "cmd_data_ip" : "192.168.1.5",  	# <-这里和修改后的电脑ip一致
      "cmd_data_port": 56101,
      "push_msg_ip": "192.168.1.5",  	# <-这里和修改后的电脑ip一致
      "push_msg_port": 56201,
      "point_data_ip": "192.168.1.5",  	# <-这里和修改后的电脑ip一致
      "point_data_port": 56301,
      "imu_data_ip" : "192.168.1.5",  	# <-这里和修改后的电脑ip一致
      "imu_data_port": 56401,
      "log_data_ip" : "",
      "log_data_port": 56501
    }
  },
  "lidar_configs" : [
    {
    
    
      "ip" : "192.168.1.12",		  	# <-这里是Livox mid360的ip
      "pcl_data_type" : 1,
      "pattern_mode" : 0,
      "extrinsic_parameter" : {
    
    
        "roll": 0.0,
        "pitch": 0.0,
        "yaw": 0.0,
        "x": 0,
        "y": 0,
        "z": 0
      }
    }
  ]
}

6. Run the test

  Open two terminals and run them respectively

source devel/setup.bash
roslaunch livox_ros_driver2 msg_MID360.launch

  Run in another terminal

source devel/setup.bash
roslaunch fast_lio mapping_mid360.launch

  The screenshot of successful operation is as follows: