mid-360配置教程

参考：Ubuntu 20.04使用Livox Mid-360_livox mid360 ubuntu20-CSDN博客 

【3D激光SLAM】Livox-mid-360激光雷达ip配置_mid360-CSDN博客

步骤：

1.创建一个ros包：

mkdir livox_ws/src 
cd livox_ws/src 

2. 下载两个github仓库：

安装Livox-SDK2:

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build
cd build
cmake .. && make -j8
sudo make install

安装livox_ros_driver2:

git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2
cd livox_ws
source /opt/ros/noetic/setup.sh
./build.sh ROS1

3. 修改电脑ip地址：

电脑ip修改为192.168.1.50，DNS地址写不写无所谓，网关要改为192.168.1.1

参考该文章的第4部分：Ubuntu 20.04使用Livox Mid-360_livox mid360 ubuntu20-CSDN博客 

4. 使用wireshark查看mid-360的ip：

使用以下命令安装wireshark

sudo apt-get install wireshark

运行wireshark工具

sudo wireshark

参考该文章的4.2.2：

Ubuntu 20.04使用Livox Mid-360_livox mid360 ubuntu20-CSDN博客

5. 修改/livox_ws/src/livox_ros_driver2/config/MID360_config.json

{
  "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",  	# <-这里和修改后的电脑ip一致
      "cmd_data_port": 56101,
      "push_msg_ip": "192.168.1.50",  	# <-这里和修改后的电脑ip一致
      "push_msg_port": 56201,
      "point_data_ip": "192.168.1.50",  	# <-这里和修改后的电脑ip一致
      "point_data_port": 56301,
      "imu_data_ip" : "192.168.1.50",  	# <-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" : "192.168.1.126",		  	# <-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. 运行测试

source devel/setup.bash
roslaunch livox_ros_driver2 rviz_MID360.launch

7. 启动fast_lio建图

运行：
 

roslaunch livox_ros_driver2 msg_MID360.launch

 另开一个终端：

roslaunch fast_lio mapping_mid360.launch

写成launch：

<launch>
    <include file="$(find livox_ros_driver2)/launch/msg_MID360.launch">
        <!-- You can add any specific parameters for the LiDAR here if needed -->
    </include>

    <include file="$(find fast_lio)/launch/mapping_mid360.launch">
        <!-- You can add any specific parameters for FAST-LIO here if needed -->
    </include>

</launch>