Livox_Apollo_Driver

Livox_Apollo_Driver can convert Livox LiDAR's raw data to standard format of point cloud, and write to point cloud channels.

Point cloud output channels

Each LiDAR corresponds to a point cloud channel.

channel: /apollo/sensor/livox/front/center/PointCloud2
type: apollo::drivers::PointCloud
proto: [modules/drivers/proto/pointcloud.proto]https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/proto/pointcloud.proto

channel: /apollo/sensor/livox/front/left/PointCloud2
type: apollo::drivers::PointCloud
proto: [modules/drivers/proto/pointcloud.proto]https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/proto/pointcloud.proto

...

Config file

use_hub: true
lidars_conf {
  lidar_conf {
    frame_id: "livox_horizon_front_center"
    hub_port: 1
    convert_channel_name: "/apollo/sensor/livox/front/center/PointCloud2"
    fan_status : true
    return_mode : DualReturn
  }
  lidar_conf {
    frame_id: "livox_horizon_front_left"
    hub_port: 2
    convert_channel_name: "/apollo/sensor/livox/front/left/PointCloud2"
    fan_status : true
    return_mode : DualReturn
  }
  ...
}

use_hub represents wether to use Livox Hub device，currently only support use Livox Hub. hub_port represents Livox Hub device's hardware port number. lidars_conf contains each LiDAR's configuration parameters, each LiDAR corresponds to a lidar_conf. sn represents LiDAR's broadcast code. convert_channel_name represents LiDAR's point cloud output channel. fan_status represents turn on/off fan. return_mode represents return mode of point cloud，it can be configured to：(1) FirstReturn; (2) StrongestReturn; (3) DualReutrn.

Notice

1. MID40/100 don't support config `return_mode` and `fan_status`.

How to add to Apollo Project

Livox_Apollo_Driver has the same directory structure as Apollo5.0

1. copy livox_apollo_driver to the same folder of your apollo project：

cp -r livox_apollo_driver/apollo/modules/drivers/livox  your_apollo_project/apollo/modules/drivers/
cp livox_apollo_driver/apollo/docker/build/installers/install_livox_sdk.sh  your_apollo_project/apollo/docker/build/installers/

2. start and enter apollo docker:

bash /apollo/docker/scripts/dev_start.sh
bash /apollo/docker/scripts/dev_into.sh

3. install livox_sdk dynamic link library:

sudo bash /apollo/docker/build/installers/install_livox_sdk.sh

4. build project:

bash apollo.sh build

Start Livox_Apollo_Driver

#in docker
cd /apollo && cyber_launch start modules/drivers/livox/launch/livox.launch

Livox_Apollo_Driver test

#in docker
cd /apollo && ./bazel-bin/modules/drivers/livox/driver/driver_test