大疆Livox MID-360/HAP安装ROS1/2驱动 Ubuntu20.04

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本文介绍如何在Ubuntu20.04中安装大疆Livox MID-360/HAP的ROS1/2驱动

一、接线连接

livox MID-360航插一分三线，其中航空母头连接激光雷达，网线连接PC，电源需要DC 9~27 V，推荐使用 12 V，注意正负极

HAP（9-18V）同理。

二、安装上位机可视化工具

去官网https://www.livoxtech.com/cn/mid-360/downloads下载上位机软件Livox Viewer 2 - Ubuntu

unzip "LivoxViewer2 for Ubuntu v2.3.0.zip"
cd "LivoxViewer2 for Ubuntu v2.3.0"
chmod +x LivoxViewer2.sh
./LivoxViewer2.sh

三、安装ROS驱动

3.1 配置静态IP

主机配置静态IP为192.168.1.50

3.2 安装Livox SDK2

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

查看是否安装成功，需要修改Livox-SDK2/samples/livox_lidar_quick_start/mid360_config.json中：

"host_ip"        : "192.168.1.50",

运行如下则安装成功：

cd Livox-SDK2/build/samples/livox_lidar_quick_start
./livox_lidar_quick_start ../../../samples/livox_lidar_quick_start/mid360_config.json

HAP同理，修改Livox-SDK2/samples/livox_lidar_quick_start/hap_config.json中：

"host_ip"        : "192.168.1.50",

运行：

cd Livox-SDK2/build/samples/livox_lidar_quick_start
./livox_lidar_quick_start ../../../samples/livox_lidar_quick_start/hap_config.json

3.3 安装ROS驱动

cd ~
git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2
cd ws_livox/src/livox_ros_driver2
# For ros1
./build.sh ROS1
# For ros2
./build.sh ROS2

3.4 MID-360驱动

修改ws_livox/src/livox_ros_driver2/config/MID360_config.json中主机IP cmd_data_ip和雷达IP，其中雷达IP 192.168.1.1XX，后两位为雷达S/N码（可以在雷达包装盒和雷达下面找到）的最后两位

"cmd_data_ip" : "192.168.1.50",

"ip" : "192.168.1.140",

启动

cd ws_livox
source install/setup.sh
ros2 launch livox_ros_driver2 rviz_MID360_launch.py

如果遇到类似的报错：what(): Could not load library dlopen error: liblivox_lidar_sdk_shared.so: cannot open shared object file: No such file or directory, at /tmp/binarydeb/ros-galactic-rcutils-4.0.4/src/shared_library.c:99，说明缺少Livox SDK2库，已安装但不可用，因为不在 LD_LIBRARY_PATH 环境变量中。所以将 /usr/local/lib 目录添加到变量.bashrc中：

sudo gedit ~/.bashrc
# 添加：
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

ROS1驱动

cd ws_livox
source devel/setup.sh
roslaunch livox_ros_driver2 rviz_MID360.launch

3.5 HAP驱动

修改ws_livox/src/livox_ros_driver2/config/MID360_config.json中主机IP cmd_data_ip和雷达IP，其中雷达IP 192.168.1.100，是HAP出厂默认静态IP：

"cmd_data_ip" : "192.168.1.50",

"ip" : "192.168.1.100",

启动

cd ws_livox
source install/setup.sh
ros2 launch livox_ros_driver2 rviz_HAP.launch.py