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feat(agv_pro_bringup): add multi-lidar support and drivers

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This commit is contained in:
X-lanni
2026-01-13 19:12:09 +08:00
parent b50a0c4496
commit dcb52622eb
99 changed files with 26335 additions and 39 deletions
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livox_ros_driver2/config/HAP_config.json
+42
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{
"lidar_summary_info" : {
"lidar_type": 8
},
"HAP": {
"lidar_net_info" : {
"cmd_data_port": 56000,
"push_msg_port": 0,
"point_data_port": 57000,
"imu_data_port": 58000,
"log_data_port": 59000
},
"host_net_info" : {
"cmd_data_ip" : "192.168.1.5",
"cmd_data_port": 56000,
"push_msg_ip": "",
"push_msg_port": 0,
"point_data_ip": "192.168.1.5",
"point_data_port": 57000,
"imu_data_ip" : "192.168.1.5",
"imu_data_port": 58000,
"log_data_ip" : "",
"log_data_port": 59000
}
},
"lidar_configs" : [
{
"ip" : "192.168.1.100",
"pcl_data_type" : 1,
"pattern_mode" : 0,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
}
]
}
livox_ros_driver2/config/MID360_config.json
+42
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{
"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" : "192.168.1.50",
"cmd_data_port": 56101,
"push_msg_ip": "192.168.1.50",
"push_msg_port": 56201,
"point_data_ip": "192.168.1.50",
"point_data_port": 56301,
"imu_data_ip" : "192.168.1.50",
"imu_data_port": 56401,
"log_data_ip" : "",
"log_data_port": 56501
}
},
"lidar_configs" : [
{
"ip" : "192.168.1.3",
"pcl_data_type" : 1,
"pattern_mode" : 0,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
}
]
}
livox_ros_driver2/config/display_point_cloud_ROS1.rviz
+172
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /PointCloud21
Splitter Ratio: 0.500694990158081
Tree Height: 728
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.4569999873638153
Min Value: -0.367000013589859
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 1
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 255
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.004999999888241291
Style: Points
Topic: /livox/lidar
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: livox_frame
Frame Rate: 40
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 25.80008888244629
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.2672550082206726
Y: 0.061853598803281784
Z: 0.15087400376796722
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5597995519638062
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.065610408782959
Saved:
- Class: rviz/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Orbit
Near Clip Distance: 0.009999999776482582
Pitch: 1.1103999614715576
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.5703970193862915
Window Geometry:
Displays:
collapsed: false
Height: 1025
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001c400000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005730000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1853
X: 67
Y: 27
livox_ros_driver2/config/display_point_cloud_ROS2.rviz
+137
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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /PointCloud21
Splitter Ratio: 0.5
Tree Height: 796
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0.20000000298023224
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 150
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /livox/lidar
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: livox_frame
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Topic: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic: /move_base_simple/goal
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 14.215983390808105
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.9503982067108154
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 2.6603963375091553
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1025
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015f000003a7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003a7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003a7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004c3000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1853
X: 67
Y: 27
livox_ros_driver2/config/mixed_HAP_MID360_config.json
+76
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@@ -0,0 +1,76 @@
{
"lidar_summary_info" : {
"lidar_type": 8
},
"HAP": {
"lidar_net_info" : {
"cmd_data_port": 56000,
"push_msg_port": 0,
"point_data_port": 57000,
"imu_data_port": 58000,
"log_data_port": 59000
},
"host_net_info" : {
"cmd_data_ip" : "192.168.1.5",
"cmd_data_port": 56000,
"push_msg_ip": "",
"push_msg_port": 0,
"point_data_ip": "192.168.1.5",
"point_data_port": 57000,
"imu_data_ip" : "192.168.1.5",
"imu_data_port": 58000,
"log_data_ip" : "",
"log_data_port": 59000
}
},
"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",
"cmd_data_port": 56101,
"push_msg_ip": "192.168.1.5",
"push_msg_port": 56201,
"point_data_ip": "192.168.1.5",
"point_data_port": 56301,
"imu_data_ip" : "192.168.1.5",
"imu_data_port": 56401,
"log_data_ip" : "",
"log_data_port": 56501
}
},
"lidar_configs" : [
{
"ip" : "192.168.1.100",
"pcl_data_type" : 1,
"pattern_mode" : 0,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
},
{
"ip" : "192.168.1.12",
"pcl_data_type" : 1,
"pattern_mode" : 0,
"extrinsic_parameter" : {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
"x": 0,
"y": 0,
"z": 0
}
}
]
}