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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This is a .
Additional Links
No additional links.
Maintainers
- niuoruo
Authors
No additional authors.
官方livox_driver驱动livox雷达发出的点云topic有两种，一种是大疆览沃定制的格式CustomMsg格式，另一种是将CustomMsg格式 转换过的pointcloud2格式，参见 Livox雷达驱动程序发布点云格式CustomMsg、PointCloud2、pcl::PointXYZI、pcl::PointXYZINormal解析 现在将转换这部分的代码提取出来，方便 随时使用
- 创建ros功能包 mkdir -p livox_repub/src cd livox_repub/src catkin_init_workspace cd .. catkin_make
- livox_repub.cpp cd src mkdir livox_repub cd livox_repub vi package.xml
vi CMakeLists.txt
vi livox_repub.cpp
- 编译运行 cd ../../ catkin_make source devel/setup.bash roslaunch livox_repub livox_repub.launch 注意：这个包是要先订阅CustomMsg的话题/livox/lidar，然后发布PointCloud2格式的”/livox_pcl0”话题，所以不论是实时驱动livox-driver还是通过bag包发布/livox/lidar，都需要确保有/livox/lidar才能有转换结果 转换后的PointCloud2点云可以通过rviz显示，终端输 rviz Fixed Frame设置为livox，点云设置为/livox_pcl0 /home/geely/图片/2022-07-25 16-19-37 的屏幕截图.png ros graph /home/geely/图片/rosgraph.png
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| visualization_msgs | |
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| livox_ros_driver2 | |
| catkin | |
| rostest | |
| rosbag |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/pointcloud_repub.launch
-
- undecay_dis [default: 0.33]
- undecay_angle [default: 0.2]
- adjust_height [default: true]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pointcloud_repub at Robotics Stack Exchange
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