Livox LiDAR support

[TakuOkawara]

Thank you for sharing your great project with us.
We were able to run this package with the bag file obtained from your Google Drive.

We ask you whether this package supports for Livox LiDARs because we plan to cite your paper.

As seen in some codes such as kaist.yaml and lioOptimization.cpp, this package seems to support Livox LiDARs.

kaist.yaml

lioOptimization.cpp

However, cloudProcessing.cpp shows that other than Velodyne LiDARs cannot be used currently such as the following image.

cloudProcessing.cpp

Therefore, we are confused about whether we can use Livox LiDAR for this package.

If this package does not support Livox LiDAR (especially, Livox AVIA), can we use this package by Livox AVIA with some adjustments to the settings made for Velodyne?

[ZikangYuan]

Unfortunately, the current version code does not support Livox.

[Userpc1010]

Can you write in more detail? Are there any hardware limitations for example livox mid 360 lidar for use with LIW-OAM without ROS (directly using with SDK\driver livox)?

[TakuOkawara]

@ZikangYuan
Thank you for your reply.
I understand that the current version of this package does not support Livox AVIA.

Are the following changes enough to use Livox AVIA for liw_oam?

• lidar_parameter such as blind, fov_degree, and so on are set for Velodyne-VLP16 in kaist.yaml, and thus these parameters are changed to other parameters fitting Livox AVIA.
  • Note that lidar_type is still set to 2 for avoiding ROS_ERROR("Only Velodyne LiDAR interface is supported currently.");
• Define"ring" information to point cloud (pcl::PointCloud<velodyne_ros::Point> raw_cloud;) obtained by Livox AVIA in the cloudProcessing::velodyneHandler function.
  • As seen in this code or this one (please see the following screenshots), "line" information of the Livox LiDAR message can be converted into "ring" information.
    
    

We can execute liw_oam with Livox AVIA by converting the livox custom message (livox_ros_driver::CustomMsg) into sensor_msgs::PointCloud2 message, and the estimation result is good even in an environment where point clouds degenerate.
However, we are concerned about the validity of the result obtained by modifying liw_oam based on the above changes of setting.
Could you answer our question?

[Userpc1010]

@TakuOkawara Did you manage to launch LIW-OAM with the Livox AVIA lidar?

[TakuOkawara]

@TakuOkawara Did you manage to launch LIW-OAM with the Livox AVIA lidar?

Yes, we were able to launch LIW-OAM with the Livox AVIA lidar and wheel odometry.
But as I said in the previous reply, we are not sure about the validity of the result.