livox_ros_driver2配置2台mid360激光雷达实现数据公布

本文链接：https://blog.csdn.net/qq_33912182/article/details/140353115

如果需要在功能包livox_ros_driver2中的节点livox_ros_driver2_node中同时驱动2台mid360实现数据采集和公布，需要做如下配置：

1.修改/home/xxx/ws_xxx/src/livox_ros_driver2-master/launch_ROS1/msg_MID360.launch文件中：<arg name="multi_topic" default="1"/>，表示配置多个话题。

2.修改/home/xxx/ws_xxx/src/livox_ros_driver2-master/config/MID360_config.json文件，修改后如下：

{
"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" : "192.168.1.10",
      "cmd_data_port": 56101,
      "push_msg_ip": "192.168.1.10",
      "push_msg_port": 56201,
      "point_data_ip": "192.168.1.10",
      "point_data_port": 56301,
      "imu_data_ip" : "192.168.1.10",
      "imu_data_port": 56401,
      "log_data_ip" : "",
      "log_data_port": 56501
    }
},
"lidar_configs" : [
    {
      "ip" : "192.168.1.123",
      "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" : "192.168.1.124",
      "pcl_data_type" : 1,
      "pattern_mode" : 0,
      "extrinsic_parameter" : {
        "roll": 0.0,
        "pitch": 0.0,
        "yaw": 0.0,
        "x": 0,
        "y": 0,
        "z": 0
      }
    }
]
}