图为智盒同时连接Mid360和HAP激光雷达

图为智盒同时连接Mid360和HAP激光雷达

1、使用x86架构的设备连接Mid360

拿到新的Mid360需要进行一下操作：

• 使用网线连接Mid360与x86架构的设备，配置ip地址

• 开放本机ipv4地址为192.168.1.5，子网掩码255.255.255.0， 网关192.168.1.1

• Mid360初始ip地址为192.168.1.1xx，xx为SN码最后两位，ping 192.168.1.1xx测试是否能访问到雷达，如果能ping通执行以下操作：

  • 在Livox官网下载Livox Viewer2。通过livox Viewer2连接Mid360，在Viewer2中点击设置按钮，修改雷达ip地址。从上到下依次为：192.168.1.101，255.255.255.0, 192.168.1.1,192.168.1.5。
  • 修改完成后保存

2、使用图为智盒连接HAP和Mid360

• 连接HAP和MID360到交换机上，交换机连接图为智盒。

• 开放图为智盒ipv4地址为192.168.1.5，子网掩码255.255.255.0，网关192.168.1.1

• 修改Livox_ros_driver2/config/mixed_HAP_MID360_config.json文件，修改完成后如下：

  {
    "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" : "192.168.1.101",
        "pcl_data_type" : 1,
        "pattern_mode" : 0,
        "extrinsic_parameter" : {
          "roll": 0.0,
          "pitch": 0.0,
          "yaw": 0.0,
          "x": 0,
          "y": 0,
          "z": 0
        }
      }
    ]
  }
  
  

• 修改Livox_ros_driver2/launch_ROS1/rviz_mixed.launch文件，修改完成后如下：

  <launch>
  
  	<!--user configure parameters for ros start-->
  	<arg name="lvx_file_path" default="livox_test.lvx"/>
  	<arg name="bd_list" default="100000000000000"/>
  	<arg name="xfer_format" default="0"/>
  	<arg name="multi_topic" default="1"/>       <!--这里改成1-->
  	<arg name="data_src" default="0"/>
  	<arg name="publish_freq" default="10.0"/>
  	<arg name="output_type" default="0"/>
  	<arg name="rviz_enable" default="true"/>
  	<arg name="rosbag_enable" default="false"/>
  	<arg name="cmdline_arg" default="$(arg bd_list)"/>
  	<arg name="msg_frame_id" default="livox_frame"/>
  	<arg name="lidar_bag" default="true"/>
  	<arg name="imu_bag" default="true"/>
  	<!--user configure parameters for ros end--> 
  
  	<param name="xfer_format" value="$(arg xfer_format)"/>
  	<param name="multi_topic" value="$(arg multi_topic)"/>
  	<param name="data_src" value="$(arg data_src)"/>
  	<param name="publish_freq" type="double" value="$(arg publish_freq)"/>
  	<param name="output_data_type" value="$(arg output_type)"/>
  	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
  	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
  	<param name="user_config_path" type="string" value="$(find livox_ros_driver2)/config/mixed_HAP_MID360_config.json"/>
  	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
  	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
  	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
  
  	<node name="livox_lidar_publisher2" pkg="livox_ros_driver2"
  	      type="livox_ros_driver2_node" required="true"
  	      output="screen" args="$(arg cmdline_arg)"/>
  
  	<group if="$(arg rviz_enable)">
  		<node name="livox_rviz" pkg="rviz" type="rviz" respawn="true"
  				args="-d $(find livox_ros_driver2)/config/display_point_cloud_ROS1.rviz"/>
      </group>
  
  	<group if="$(arg rosbag_enable)">
      	<node pkg="rosbag" type="record" name="record" output="screen"
            		args="-a"/>
      </group>
  
  </launch>
  

• 执行roslaunch livox_ros_driver2 rviz_mixed.launch可以同时查看到两个topic雷达