Mid-360 Driver

This is an implementation of the Mid-360 driver, intended to serve as a replacement for livox_ros_driver2.

It has the following features:

• It does not rely on Livox-SDK2 but directly implements UDP communication, making it highly lightweight.

• It supports automatically obtaining the LiDAR IP, eliminating the need to configure the LiDAR IP.

• It supports multiple LiDARs.

• When time synchronization is not enabled, it calculates the time difference only once upon the first received message and uses this difference thereafter, ensuring basic time synchronization.

Special note:

• It publishes point clouds in the PointCloud2 format, which differs from the point cloud format of livox_ros_driver2. Users may need to modify code in other packages.

Install dependencies

1. Please make sure you have install ROS2.
2. Install Asio. If you are using ubuntu, you can install by following command: sudo apt install libasio-dev

Param

here are some parameters you can set in config file:

mid360_driver:
    ros__parameters:
        lidar_topic: /livox/lidar
        lidar_frame: livox_frame
        imu_topic: /livox/imu
        imu_frame: imu_frame
        lidar_publish_time_interval: 0.1
        host_ip: 192.168.1.50
        is_topic_name_with_lidar_ip: false # 是否在话题名后面加雷达ip，可以用于区分多个雷达

Contact

QQ group: 1070252119

Email: 1709185482@qq.com

License

Copyright (C) 2025 Yingjie Huang

Licensed under the MIT License. See License.txt in the project root for license information.