Mid-360 Driver

1. Abstract

In this report, we will provide a brief overview of our MID-360 Driver configuration process. This primarily involves download and compile the SDK and driver, configuring Ethernet, display point clouds and topics.

2. SDK and driver

View official introduction https://github.com/Livox-SDK
Livox SDK and Livox_ ROS_ Driver: Drivers for receiving LiDAR data and more, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia. Livox SDK2 and Livox_ROS_Driver2: Drivers for receiving LiDAR data and controlling lidar, support Lidar HAP and Mid-360! So we need to download Livox SDK2 and Livox_ROS_Driver2.

Install 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

Install livox_ros_driver2:

git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2
cd ws_livox
source /opt/ros/noetic/setup.sh
./build.sh ROS1

3. Configuring Ethernet

Firstly, under Ubuntu 20.04, place the local IP address on the same local area network as the LIDAR IP, and then change the IP address of the Ethernet and modify livox_ROS_Driver2/config/MID360_config.json.

Image description — Fig. 1. Configuring Ethernet of LIDAR

The IP part of the parameters in the config.json file, cmd_ data_ ip is changed to 192.168.1.50, and the IP below is changed to the IP of the LIDAR :192.168.1.1 * *. The broadcast code of the LIDAR is located behind the LIDAR and can be viewed under the QR code of the LIDAR body. The last two digits are the last two digits of the LIDAR S/N code, otherwise only livox/imu data will be released.

4. Display point clouds and topics

Once the compilation is successful, the launch file can be run and the point cloud will be displayed, and the LIDAR data and laser data can be released normally.

source ./devel/setup.bash
roslaunch livox_ros_driver2 msg_MID360.launch
rostopic list