livox-sdk/livox_mapping

A mapping package for Livox LiDARs

Livox_mapping

Livox_mapping is a mapping package for Livox LiDARs. The package currently contains the basic functions of low-speed mapping.

Some key issues:

1. Support multiple livox lidar;
2. Different feature extraction;
3. Remove odometry for small FOV situation;

In the development of our package, we reference to LOAM, LOAM_NOTED.

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

1.2. PCL && Eigen && openCV

Follow PCL Installation. Follow Eigen Installation. Follow openCV Installation.

1.3. livox_ros_driver

Follow livox_ros_driver Installation.

2. Build

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/Livox-SDK/livox_mapping.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

Remarks:

• If you want to save the pcd file please add map_file_path in launch file.

3. Directly run

3.1 Livox Mid-40

Connect to your PC to Livox LiDAR (mid40) by following Livox-ros-driver installation, then

    ....
    roslaunch livox_mapping mapping_mid.launch
    roslaunch livox_ros_driver livox_lidar.launch
    

3.2 Livox Horizon

Connect to your PC to Livox LiDAR (Horizon) by following Livox-ros-driver installation, then

    ....
    roslaunch livox_mapping mapping_horizon.launch
    roslaunch livox_ros_driver livox_lidar_msg.launch
    

4. Rosbag Example

4.1 Livox Mid-40 rosbag

Download mid40_hall_example or mid40_outdoor and then

roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag

4.2 Livox Mid-100 rosbag

Download mid100_example and then

roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag

4.3 Livox Horizon rosbag

Download horizon_parking or horizon_outdoor and then

roslaunch livox_mapping mapping_horizon.launch
rosbag play YOUR_DOWNLOADED.bag

5.Acknowledgments

Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), LOAM_NOTED.

livox_mapping's Issues

catkin_make的时候找不到.h文件，求教

Not working in Noetic

Would it be possible to update the the source code to include a version for ROS Noetic? Or please advise how to build it using Ubuntu 20.04 and ROS Noetic.

Memory leaking!!

I run the command followed the tutorial

roslaunch livox_mapping mapping_horizon.launch
roslaunch livox_ros_driver livox_lidar_msg.launch

the rviz viewer show the mapping result well , but the memory usage increasing steadily to 100% and then stop scanning and mapping to crash , is it any way to avoid the memory leaking . thanks any helps.

how to convert RGB information into intensity infomation？

When I use the Livox AVIA and save the data as bag file, and then convert the bag with your mapping algorithm to a pcd file, the intensity information has been converted to RGB information. How to convert the RGB information back to the intensity information?

Saved PCD file noisy compaired to ROS Map

Hi,

Thanks for releasing this - this is great, very robust mapping solver.

My question is, when setting add map_file_path in launch file, the resultant "all_points.pcd" is incredibly noisy, and does not reflect the very clean map in the rviz window - how do I export the final map that is displayed in rvis?

Thank you.

How to run Livox-mapping the BAG in HAP

I used the HAP to record a bag , however, i have no idea about how to modified the code to build the map.
I guess there are some problems in message type.

Map (corner.pcd) does not contain complete mapped area

Hi,

When mapping a bit larger area (cc. more than 200 m) the corner.pcd file gets somehow cropped and only the mapped corners around the very last position are saved in the .pcd file. What is the reason of this ?

Is there any settings that would allow for mapping larger areas, in the order of c.c. 1 km ?

Thanks in advance,
Gergely

Error transforming odometry 'Odometry' from frame '/camera_init' to frame 'camera_init'

I'm getting this error on rviz when running the launch file for livox_horizon and because of that I cannot see the mapped pointcloud on rviz. How to fix that? Thanks

how to evaluate map quality？

hi，i want to consult you about how to evaluate the map quality， and What kind of GT is used to evaluate？

Does livox_mapping support HAP models?

get an empty surf.pcd and keyfram.txt

Hi, all. thank you for the excellent work! I am preparing to test the livox_relocalization algorithm using mid360, and I encountered some issues when using livox_mapping to obtain the map:

• Among the four files, all_points.pcd and corner.pcd contain data， but get an empty surf.pcd and keyfram.txt.
• keyfram.txt：

0 -0 0 1 0 0 0
0 -0 0 1 0 0 0
0 -0 0 1 0 0 0
0 -0 0 1 0 0 0
0 -0 0 1 0 0 0
0 -0 0 1 0 0 0
0 -0 0 1 0 0 0
0 -0 0 1 0 0 0
0 -0 0 1 0 0 0
Does anyone know where the problem occurred? Thank you very much.
terminal output data：
debug.txt

add wheel odometry into mapping

Hi, any idea to combine a wheel odometry into the mapping part to get a better map result?

Asking about the front-end of Livox_mapping

Thanks for your work and it works well on our dataset. However, we are still confused about the meaning of the front-end of the system. Is there anything we can refer to for understanding the code, especially the "centerCubeI, centerCubeK, centerCubeK" part?

Support ROS2 Foxy, AVIA new features, Noetic and 20.04

Surprised how bad is supported the AVIA lidar, ROS2, the last ROS and Ubuntu distributiones, so much issues unanswered. Software looks complicated, old and fragmented.
Thinking in return my AVIA because the software, it doesnt look a LIDAR for users and robotics, it looks more for integrators for DJI drones as Geosun,Rock robotics etc.

Loop Closure

Hi,

Thanks for this great package. I have tried this package with Mid70 and it could create a decent 3D map. However, the mapping would be off when it comes to loop closure. Is there a way to execute loop closure with this package? Possible to include IMU input during mapping?

Thanks.

Play mid40_ oudor bag, the point cloud will not move, as if there is only one frame of data. How can I solve this problem

And i directly run mid-40 launch ,then only display one frmae cloudpoints data.

Save Map File not work!!

I run the livox mapping with horizon and set the param as ""
,use Ctrl+C stop the process but got no saved file.
Is it need other things to do and then can save the map data??
Thx for any help...

an error happened in build process

Hi,
When I run catkin_make, an cmake error happened which showed in the photo. What's wrrong?

scanRegistration.cpp文件中的465行if的作用

scanRegistration.cpp文件中的465行
double cc = fabs( norm_front.dot(norm_back) / (norm_front.norm()*norm_back.norm()) );
if(cc < 0.8){
debugnum3++;
}else{
CloudFeatureFlag[i] = 0;
}
这个if的作用是什么，为什么abs(cos(t))<0.8(t属于[37度，143度])就不是角特征点了？

Problem installation livox mapping

this is the message that appears when I run the build with the catkin_make command.
Is there a solution?
Thank you

tino@tino-HP-255-G8-Notebook-PC:~/catkin_ws$ catkin_make
Base path: /home/tino/catkin_ws
Source space: /home/tino/catkin_ws/src
Build space: /home/tino/catkin_ws/build
Devel space: /home/tino/catkin_ws/devel
Install space: /home/tino/catkin_ws/install
Creating symlink "/home/tino/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake"

Running command: "cmake /home/tino/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/tino/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/tino/catkin_ws/install -G Unix Makefiles" in "/home/tino/catkin_ws/build"

-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/tino/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/tino/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - livox_mapping
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'livox_mapping'
-- ==> add_subdirectory(livox_mapping)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find livox_ros_driver (missing: livox_ros_driver_DIR)
-- Could not find the required component 'livox_ros_driver'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "livox_ros_driver"
with any of the following names:

livox_ros_driverConfig.cmake
livox_ros_driver-config.cmake

Add the installation prefix of "livox_ros_driver" to CMAKE_PREFIX_PATH or
set "livox_ros_driver_DIR" to a directory containing one of the above
files. If "livox_ros_driver" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
livox_mapping/CMakeLists.txt:16 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/tino/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/tino/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
tino@tino-HP-255-G8-Notebook-PC:~/catkin_ws$

Cumulative error

The cumulative error of this algorithm is too large. Do you have a loop-detection version?

Better results on map

Hello guys,

i created a pcd file after using livox_mapping but the results are very poor, something that doesnt happen in rosbag pointcloud.

How to record THE BAG in MID100

How do I modify the livox_lidar.launch file？or need to modify other files？thanks

libpcl_features.so.1.8: undefined symbol: _ZNK3pcl6search6SearchINS_8PointDEMEE7ge

livox_mapping/loam_laserMapping: symbol lookup error: /usr/lib/x86_64-linux-gnu/libpcl_features.so.1.8: undefined symbol: _ZNK3pcl6search6SearchINS_8PointDEMEE7ge

double free issue

has anyone met the double free or corruption (out) issue?
I got this error log when I run the mapping program:

add points time 0.036292 ms
filter time 0.046774 ms
mapping pub time 1.388891 ms
whole mapping time 2.285440 ms +++++
double free or corruption (out)

No support for Livox Avia using ROS Noetic

Livox ROS driver and all related projects are only working on ROS Melodic. Please indicate if there are plans to update the repositories for Noetic support. Further, this LiDAR (and all Livox models, for that matter) does not appear to be accurate if pitch, roll, or yaw are changed more than a few degrees. Is this why your screenshots / examples use straight line scans? For example, with the Livox Aria, if I stand in place and move around 360 degrees, it quickly gets confused and there is about a 10cm error margin for points, "smearing and blurring" the point cloud. The end result is so noisy, that it is impossible to detect the original objects.

As such, we would expect that this LiDAR is not usable for mapping in scenarios that require complex movement. I presume this is why you put the Horizon on a tripod for a room scan --- the IMU is not robust enough to detect subtle movements and must be transitioned gradually and slowly. Even tilting the Avia 45 degrees upwards will confuse point tracking and create a noisy, completely inaccurate cloud. This could never be used on a drone and would only be viable for vehicle mapping / localization as long as the vehicle, as you have described, is not moving more than 5km / hour, but what you fail to mention is that the vehicle should also not make sharp turns, go over bumps, or make any sudden transitions.

This problem might be solved by allowing access to sample rate in the ROS driver or SDK. At this time, it is possible to change this sample rate only in the Viewer. Therefore, Mid-40, 100, Horizon, and Avia are all not capable of handling drone-based surveying, nor are they likely to be useful for obstacle avoidance for automated vehicles unless the repetitive scanning is engaged, which is why you have likely implemented two modes.

cant play with my own bag

I successfully compiled livox_mapping package with PCL 1.9, and I recorded my own bag with horizon, however, when I tried to use it together with livox_mapping, the terminal gives me cant match livox_repub "/livox/lidar"message type, which is "livox_ros_driver::CustomMsg", but for me ,the recorded bag is "sensor_msgs::PointCloud2". Thus I modified the file a little bit, but it cant work, so how do I record the /livox/lidar topic with the specific type "livox_ros_driver::CustomMsg"

loam Livox

Hi guys,

Im tying to compile loam Livox with catkin and im getting the following error. I installed Eigen and OpenCV btw.

-- Using CATKIN_DEVEL_PREFIX: /home/leo/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/leo/catkin_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/leo/catkin_ws/devel;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/leo/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - loam_livox
-- ~~ - livox_ros_driver
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'loam_livox'
-- ==> add_subdirectory(loam_livox)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at loam_livox/CMakeLists.txt:23 (find_package):
By not providing "FindCeres.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Ceres", but
CMake did not find one.

Could not find a package configuration file provided by "Ceres" with any of
the following names:

CeresConfig.cmake
ceres-config.cmake

Add the installation prefix of "Ceres" to CMAKE_PREFIX_PATH or set
"Ceres_DIR" to a directory containing one of the above files. If "Ceres"
provides a separate development package or SDK, be sure it has been
installed.

-- Configuring incomplete, errors occurred!
See also "/home/leo/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/leo/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [Makefile:1608: cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

-- Using CATKIN_DEVEL_PREFIX: /home/leo/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/leo/catkin_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/leo/catkin_ws/devel;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/leo/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - loam_livox
-- ~~ - livox_ros_driver
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'loam_livox'
-- ==> add_subdirectory(loam_livox)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at loam_livox/CMakeLists.txt:23 (find_package):
By not providing "FindCeres.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Ceres", but
CMake did not find one.

Could not find a package configuration file provided by "Ceres" with any of
the following names:

CeresConfig.cmake
ceres-config.cmake

Add the installation prefix of "Ceres" to CMAKE_PREFIX_PATH or set
"Ceres_DIR" to a directory containing one of the above files. If "Ceres"
provides a separate development package or SDK, be sure it has been
installed.

-- Configuring incomplete, errors occurred!
See also "/home/leo/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/leo/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [Makefile:1608: cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

nav_msgs/Path export

hello, when I create bag file from this alghoritam:
How can i export next 3 topics to get some path which I will be able to use in another program to check the accuracy and precision of the trajectory of my livox:
topics: /aft_loopclosure_path 1 msg : nav_msgs/Path
/aft_mapped_path 367 msgs : nav_msgs/Path
/aft_mapped_to_init 3677 msgs : nav_msgs/Odometry

Thanks for answer!

"TF_REPEATED_DATA ...." caused by “float” type of "timeLaserCloudCornerLast"

The timestamp of tf ( camera_init 2 aft_mapped ) does not update correctly when running livox_mapping with HAP.

This problem is caused by "float" type of "timeLaserCloudCornerLast".My devices is PC ubuntu 20.04.

Just modifiy in Lasermapping.cpp

// float timeLaserCloudCornerLast = 0; 

// float timeLaserCloudSurfLast = 0; 

// float timeLaserCloudFullRes = 0; 

double timeLaserCloudCornerLast = 0; 

double timeLaserCloudSurfLast = 0; 

double timeLaserCloudFullRes = 0;

OpenCV 4

I am running a Jetson AGX. It has Open CV 4.1.1 by default. When are you planning on fixing your repositories to work with the current versions of Open CV, PCL, Linux Ubuntu etc? I get that its allot of work to stay current but Ubuntu 16 is way old and outdated. So is the old version of OpenCV.

ROS2 version of livox mapping

Hi,
Thanks for open sourcing this package. I was wondering if you are going to release a ROS2 version of this package.

TIA
Harshal

Noetic support?

Updating the opencv headers and building for ROS Noetic I do not see the pointcloud scan at all. - rviz is blank. The pose information will change if the lidar is moved. Fixed frame camera_init is not present and returns errors in rviz. Using pointcloud2 and /livox/lidar the scan is visible which indicates the lidar is working.

Do you have a version which works with ROS Noetic?

Supporting for mid-70

this package support mid-70 ??

If yes,

1. could you please provide bag for mid-70 ( especially indoor ) ??
2. how fast speed while mapping ??
3. Is it slower than mid-40 For FOV coverage ??

How can I save the entire map in one pcd file?

The flag to save the pcd files saves a bunch of "frames" of the PCL. However, I would like to access the entire map in one file. Is that possible?

How to dye Cloudpoins in real time based on this project.

The calibration of lidar and camera has been done and the Cloudpoints dyeing after collecting point of cloud and image respectively is realized.How to combine two projects to realize real-time Cloudpoints coloring,thanks~

Inaccurate result using my own indoor horizon data.

I recorded my own indoor horizon data, which the height of the lidar is nearly 0.3m.
here is the result:

and I find that there is one place don't have odometry, so the map is very bad .

could you provide some suggestions?
Thanks!

[laserMapping-3] process has died

hello guys,

did you ever meet node died issue?
when i just rosbag play the demo bag, then the '[laseMapping-3] process ' soon died, and the rivz will not show the mapping resutls any more, error details see below.
that's really confused me, i build successfuly without error according to readme, but always get the node died when i play a robag, can anyone help me, please~

livox_mapping package include lidar_odometry?

Hi,
Thanks !
Does this package(livox_mapping) contain lidar odometry?My understanding is to perform the feature point extraction of the original point cloud and make the coordinate transformation relative to the intial position.

How to build a map？

在使用HAP雷达运行livox_mapping时，我遇到以下问题：

点云显示出来后，旋转雷达时，新场景会覆盖旧场景，无法进行建图！

谢谢各位前辈指导！

error when rosbag play example bag

env:ubuntu18.04
when use the readme.md's example,such as the follow:

roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag

the rviz show only one frame, then it nochange,the ros master log show as the follow:

[rosmaster.master][INFO] 2020-07-28 11:16:32,758: -SUB [/livox/lidar] /scanRegistration http://parallels-Parallels-Virtual-Platform:37193/
[rosmaster.master][INFO] 2020-07-28 11:16:32,758: publisherUpdate[/rosout] -> http://parallels-Parallels-Virtual-Platform:40921/ ['http://parallels-Parallels-Virtual-Platform:45147/', 'http://parallels-Parallels-Virtual-Platform:34581/', 'http://parallels-Parallels-Virtual-Platform:35667/']: sec=0.00, result=[1, '', 0]
[rosmaster.master][INFO] 2020-07-28 11:16:32,759: publisherUpdate[/livox_cloud] -> http://parallels-Parallels-Virtual-Platform:34581/ []
[rosmaster.master][INFO] 2020-07-28 11:16:32,760: publisherUpdate[/livox_cloud] -> http://parallels-Parallels-Virtual-Platform:34581/ []: sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.master][INFO] 2020-07-28 11:16:32,760: -SERVICE [/scanRegistration/get_loggers] /scanRegistration rosrpc://parallels-Parallels-Virtual-Platform:47063
[rosmaster.master][INFO] 2020-07-28 11:16:32,762: -SERVICE [/scanRegistration/set_logger_level] /scanRegistration rosrpc://parallels-Parallels-Virtual-Platform:47063
[rosmaster.threadpool][ERROR] 2020-07-28 11:16:32,763: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1078, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 894, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 856, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 833, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2020-07-28 11:16:32,763: publisherUpdate[/laser_cloud_sharp] -> http://parallels-Parallels-Virtual-Platform:34581/ []
[rosmaster.master][INFO] 2020-07-28 11:16:32,763: publisherUpdate[/laser_cloud_sharp] -> http://parallels-Parallels-Virtual-Platform:34581/ []: sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2020-07-28 11:16:32,764: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1078, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 894, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 856, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 833, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2020-07-28 11:16:32,764: publisherUpdate[/laser_cloud_flat] -> http://parallels-Parallels-Virtual-Platform:34581/ []
[rosmaster.master][INFO] 2020-07-28 11:16:32,764: publisherUpdate[/laser_cloud_flat] -> http://parallels-Parallels-Virtual-Platform:34581/ []: sec=0.00, exception=[Errno 111] Connection refused
[rosmaster.threadpool][ERROR] 2020-07-28 11:16:32,765: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 1078, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 894, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 856, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 833, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 575, in create_connection
    raise err
error: [Errno 111] Connection refused

[rosmaster.master][INFO] 2020-07-28 11:16:32,795: -PUB [/rosout] /rviz http://parallels-Parallels-Virtual-Platform:45147/

And the rviz show this error:
For frame [aft_mapped]: Fixed Frame [camera_init] does not exist
how can i resove this problem?

Difference between livox_mapping and loam_livox

Hello. What's the difference between livox_mapping and loam_livox? Does anyone have tested the performance of two packages?

extrinsic rotation question

I have a Horizon mounted to a motor on a tripod running a 360 degree sweep in 3 minutes. The lidar unit is rotated 90 to the right along the X axis as you are looking at the lidar from the front to the back. Where would be the best place to change the angle of rotation? Should it be done in the driver or in livox mapping?
Since this is used as a TLS style scanner would it be best to use spherical or Cartesian coordinates in livox mapping. I tried using the livox_scanner repository but livox mapping is doing a better job, kinda. There is a 1 meter difference in the Z (Y) axis by the time the unit rotates a full 360. Any suggestions on settings that may improve the alignment?
thanks for putting out the different repository's for us to play with.

Colorize pointcloud.

Hi everyone,

I'd like to ask if it is possible to colorize the pointcloud and if yes do you have any suggestion on how to approach this ?

Thanks in advance.

Inquiry into saving intensity values in the map file

Thanks for your work!
I'm trying to save the intensity values in the map file. However, according to the following command, the intensity values are not saved by default.

livox_mapping/src/laserMapping.cpp

Line 1213 in 78b2938

pcd_writer.writeBinary(all_points_filename, *laserCloudFullResColor_pcd);

So I changed it to pcd_writer.writeASCII(all_points_filename, *laserCloudFullResColor_pcd);
But then I realized that the points pointed by *laserCloudFullResColor_pcd are in the format of pcl::PointXYZRGB

livox_mapping/src/laserMapping.cpp

Line 1136 in 78b2938

pcl::PointXYZRGB temp_point;

I'm pretty confused about this. I'm wondering why the points are not in format pcl::PointXYZI?
Can I change it to pcl::PointXYZI?

Trail of moving object in saved pcd

Hi

When i run the mapping and visualise the result in rviz, it looks fine with no trail of any moving objects like a person. But when i save the point cloud as a pcd and visualise it using cloud compare, i can see the trail of all the moving persons.

My query is :
Why there is a trail in saved PCD
how can i avoid that trail from saving into PCD.

Thank You!

How to get UNIX/POSIX time stamp in the header of ROS msg

Hi, the current time of the header is counts from 0. I conjecture it is the clock of the livox. But I want to use the UNIX timestamp of the host, so as to connect livox_mapping with other modules(e.g. planning, control). I have read through the code but can not find a way to do it. Is there any hint about that?

Are only the Mid and Horizon supported?

What Livox lidars are supported in this package? Is the tele supported by any change, or any of the other Livox lidars?

How to save pcd file in livox-mapping？

In step 2. Build
Clone the repository and catkin_make:

cd ~/catkin_ws/src
git clone https://github.com/Livox-SDK/livox_mapping.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash

Remarks:

If you want to save the pcd file please add map_file_path in launch file.

My question is how to add map_file_path in launch file，and how to save the pcd file .
Please tell more specifics about it.

Livox_mapping for CustomMsg

Thanks for your code. How to convert CustomMsg in livox_ros_driver for livox mapping?