A collection of ROS 2 tools to process, visualize, and save data from Livox Mid-360 sensors.

This package provides a set of utilities for working with Livox Mid-360 LiDAR data in ROS 2.
It includes nodes for converting, visualizing, saving, and extracting features from point clouds and related sensor data.

• Description: Converts a point cloud into a 2D range image using vertical and horizontal fields of view.

• Input: /PointCloud2

• Parameters:

  • topic.in: input topic containing a sensor_msgs/msg/PointCloud2 message.
  • topic.out: output topic to publish the generated range image as a sensor_msgs/msg/Image.
  • azimuth.res_deg: angular resolution in degrees along the horizontal (azimuth) axis.
  • azimuth.fov_deg: field of view in degrees along the azimuth axis.
  • azimuth.min_deg: minimum azimuth angle to start populating the image.
  • elevation.res_deg: angular resolution in degrees along the vertical (elevation) axis.
  • elevation.fov_deg: field of view in degrees along the elevation axis.
  • elevation.min_deg: minimum elevation angle to start populating the image.
  • max_range_m: maximum range (in meters) to consider when generating the image. Points beyond this range are ignored.

• Output: Range image as sensor_msgs/msg/Image

• Description: Add white Gaussian noise on the Livox measurements.
• Parameter:
  • topic.in: Topic of the point cloud to subscribe to
  • topic.out: Topic of the point cloud after renoise
  • sigma.range_m: standard deviation of the noise on the range mesurement [m]
  • sigma.angle_deg: standard deviation of the noise on the angle mesurement [deg]
• Use Case: Useful for testing robustness of algorithms dependent on Livox LiDARs.

• Description: Saves incoming /PointCloud2 or Livox /CustomMsg messages as .pcd point clouds.
• Parameters:
  • topic.in: Topic to subscribe to
  • format.in: 0 for CustomMsg, 1 for PointCloud2
  • path: Save directory
  • format.out: Currently only "pcd" is supported
  • format.save_with_timestamp: When enabled, the point cloud is saved with a name that is seconds_nanoseconds.pcd. Otherwise, they are saved with 0-padding in order from 0 to a max of 99999
• Output: .pcd files

• Description: Converts Livox /CustomMsg to standard ROS 2 /PointCloud2.
• Parameter:
  • topic.in: Topic to subscribe to
  • topic.out: Topic of the message after conversion
  • enable_lightweight: condidered only when not using override_line, it publishes the point cloud with fields xyz instead of xyzitlt
  • override_line: When false uses the point cloud field ring, when true the ring number is computed with the following parameters
  • elevation.fov_deg: vertical field of view of the LiDAR
  • elevation.min_deg: vertical minimum angle of the LiDAR
  • num_scan_lines: number of rings
• Use Case: Useful for standard visualization tools like RViz

• Description: Converts /PointCloud2 into Livox /CustomMsg.
• Parameter:
  • topic.in: Topic to subscribe to
  • topic.out: Topic of the message after conversion
• Use Case: Useful for simulations or toolchains expecting Livox message formats

This package depends on the following ROS 2 and system packages:

PCL
pcl_conversions
pcl_ros
geometry_msgs
sensor_msgs
livox_ros_driver2
std_msgs
std_srvs
Eigen3
OpenCV
cv_bridge
OpenMP

Build the package in your ROS 2 workspace:

colcon build --packages-select liovx_lidar_utils
source install/setup.bash

Then launch or run the desired node using ros2 run or ros2 launch.