Questions about running point-lio using livox mid360 lidar

[LiqunXu]

Hello, I tried to use livox mid360 lidar to run point-lio. I got some problems:
I run "ros2 launch livox_ros_driver2 rviz_MID360_launch.py", and publish "Livox pointcloud2(PointXYZRTLT) pointcloud format"
when I run "ros2 launch point_lio mapping_mid360.launch.py", I got this error:
"[pointlio_mapping-1] Error LiDAR Typelose lidar"
and in the mid360.yaml file, here is the settings for lidar_type:
"lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR"
I tried to change the liday_type to 2
"lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR"
In this case, point-lio runs well, but I keep getting the following error:
"[pointlio_mapping-1] Failed to find match for field 'time'.
[pointlio_mapping-1] Failed to find match for field 'ring'."

So are there any ways to resolve this issue? Thanks!

[XYjy949]

Perhaps I know where the problem lies. Uncommenting the code in some files should be able to solve this problem.

[LiqunXu]

Perhaps I know where the problem lies. Uncommenting the code in some files should be able to solve this problem.
Can you please specify where should I uncommonting? Thanks!

[XYjy949]

Sure！The following are the files that need to be modified：
1.CmakeList.txt:
find_package(livox_ros_driver2 REQUIRED)

fix code

ament_target_dependencies(pointlio_mapping
rclcpp
rclpy
geometry_msgs
nav_msgs
sensor_msgs
pcl_ros
pcl_conversions
tf2_ros
visualization_msgs
livox_ros_driver2
)

Export dependencies

ament_export_dependencies(rclcpp
rclpy
geometry_msgs
nav_msgs
sensor_msgs
pcl_ros
pcl_conversions
tf2_ros
visualization_msgs
livox_ros_driver2
Eigen3
)

2.package.xml

add code

livox_ros_driver2

3.laserMapping.cpp

#include <livox_ros_driver2/msg/custom_msg.hpp>
void livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::SharedPtr msg) {
mtx_buffer.lock();
double preprocess_start_time = omp_get_wtime();
scan_count++;
if (get_time_sec(msg->header.stamp) < last_timestamp_lidar) {
RCLCPP_ERROR(logger, "lidar loop back, clear buffer");
mtx_buffer.unlock();
sig_buffer.notify_all();
return;
}
last_timestamp_lidar = get_time_sec(msg->header.stamp);
PointCloudXYZI::Ptr ptr(new PointCloudXYZI());
PointCloudXYZI::Ptr ptr_div(new PointCloudXYZI());
p_pre->process(msg, ptr);
double time_div = get_time_sec(msg->header.stamp);
if (cut_frame) {
sort(ptr->points.begin(), ptr->points.end(), time_list);
for (int i = 0; i < ptr->size(); i++) {
ptr_div->push_back(ptr->points[i]);
if (ptr->points[i].curvature / double(1000) + get_time_sec(msg-

header.stamp) - time_div >
cut_frame_time_interval) {
if (ptr_div->size() < 1) continue;
PointCloudXYZI::Ptr ptr_div_i(new PointCloudXYZI());
// cout << "ptr div num:" << ptr_div->size() << endl;
*ptr_div_i = *ptr_div;
// cout << "ptr div i num:" << ptr_div_i->size() << endl;
lidar_buffer.push_back(ptr_div_i);
time_buffer.push_back(time_div);

time_div += ptr->points[i].curvature / double(1000);
ptr_div->clear();
}
}
if (!ptr_div->empty()) {
lidar_buffer.push_back(ptr_div);
// ptr_div->clear();
time_buffer.push_back(time_div);
}
} else if (con_frame) {
if (frame_ct == 0) {
time_con = last_timestamp_lidar; //get_time_sec(msg->header.stamp);
}
if (frame_ct < con_frame_num) {
for (int i = 0; i < ptr->size(); i++) {
ptr->points[i].curvature += (last_timestamp_lidar - time_con)

• 1000;
  ptr_con->push_back(ptr->points[i]);
  }
  frame_ct++;
  } else {
  PointCloudXYZI::Ptr ptr_con_i(new PointCloudXYZI());
  *ptr_con_i = *ptr_con;
  double time_con_i = time_con;
  lidar_buffer.push_back(ptr_con_i);
  time_buffer.push_back(time_con_i);
  ptr_con->clear();
  frame_ct = 0;
  }
  } else {
  lidar_buffer.emplace_back(ptr);
  time_buffer.emplace_back(get_time_sec(msg->header.stamp));
  }
  s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time;
  mtx_buffer.unlock();
  sig_buffer.notify_all();
  }
  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_pcl;
  rclcpp::Subscription<livox_ros_driver2::msg::CustomMsg>::SharedPtr
  sub_pcl_livox_;
  if (p_pre->lidar_type == AVIA) {
  sub_pcl_livox_ = nh-

create_subscription<livox_ros_driver2::msg::CustomMsg>(lid_topic, 20,
livox_pcl_cbk);
} else {
sub_pcl = nh->create_subscription<sensor_msgs::msg::PointCloud2>
(lid_topic, rclcpp::SensorDataQoS(), standard_pcl_cbk);
}

4.preprocess.cpp
void Preprocess::process(const livox_ros_driver2::msg::CustomMsg::SharedPtr
&msg, PointCloudXYZI::Ptr &pcl_out) {
avia_handler(msg);
*pcl_out = pl_surf;
}
void Preprocess::avia_handler(const
livox_ros_driver2::msg::CustomMsg::SharedPtr &msg) {
pl_surf.clear();
pl_corn.clear();
pl_full.clear();
double t1 = omp_get_wtime();
int plsize = msg->point_num;
pl_corn.reserve(plsize);
pl_surf.reserve(plsize);
pl_full.resize(plsize);
uint valid_num = 0;
for (uint i = 1; i < plsize; i++) {
if ((msg->points[i].line < N_SCANS) &&
((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag &
0x30) == 0x00)) {
valid_num++;
if (valid_num % point_filter_num == 0) {
pl_full[i].x = msg->points[i].x;
pl_full[i].y = msg->points[i].y;
pl_full[i].z = msg->points[i].z;
pl_full[i].intensity = msg->points[i].reflectivity;
pl_full[i].curvature = msg->points[i].offset_time /
float(1000000); // use curvature as
time of each laser points, curvature unit: ms
if (i == 0) pl_full[i].curvature = fabs(pl_full[i].curvature)
< 1.0 ? pl_full[i].curvature : 0.0;
else pl_full[i].curvature =

fabs(pl_full[i].curvature - pl_full[i -
1].curvature) < 1.0 ? pl_full[i].curvature :
pl_full[i - 1].curvature + 0.004166667f;
if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7)
|| (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7)
|| (abs(pl_full[i].z - pl_full[i - 1].z) > 1e-7)
&& (pl_full[i].x * pl_full[i].x + pl_full[i].y *
pl_full[i].y + pl_full[i].z * pl_full[i].z >
(blind * blind))) {
pl_surf.push_back(pl_full[i]);
}
}
}
}
}
5.preprocess.h
//add code
#include <livox_ros_driver2/msg/custom_msg.hpp>
void process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg,
PointCloudXYZI::Ptr &pcl_out);
void avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg);

There is no code that needs to be modified. Just uncomment the corresponding code in these files and then compile it. The lidar I use is also MID360! Hope it can help you!

[XYjy949]

Sure！The following are the files that need to be modified： 1.CmakeList.txt: find_package(livox_ros_driver2 REQUIRED)

fix code

ament_target_dependencies(pointlio_mapping rclcpp rclpy geometry_msgs nav_msgs sensor_msgs pcl_ros pcl_conversions tf2_ros visualization_msgs livox_ros_driver2 )

Export dependencies

ament_export_dependencies(rclcpp rclpy geometry_msgs nav_msgs sensor_msgs pcl_ros pcl_conversions tf2_ros visualization_msgs livox_ros_driver2 Eigen3 )

2.package.xml

add code

livox_ros_driver2

3.laserMapping.cpp

#include <livox_ros_driver2/msg/custom_msg.hpp> void livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::SharedPtr msg) { mtx_buffer.lock(); double preprocess_start_time = omp_get_wtime(); scan_count++; if (get_time_sec(msg->header.stamp) < last_timestamp_lidar) { RCLCPP_ERROR(logger, "lidar loop back, clear buffer"); mtx_buffer.unlock(); sig_buffer.notify_all(); return; } last_timestamp_lidar = get_time_sec(msg->header.stamp); PointCloudXYZI::Ptr ptr(new PointCloudXYZI()); PointCloudXYZI::Ptr ptr_div(new PointCloudXYZI()); p_pre->process(msg, ptr); double time_div = get_time_sec(msg->header.stamp); if (cut_frame) { sort(ptr->points.begin(), ptr->points.end(), time_list); for (int i = 0; i < ptr->size(); i++) { ptr_div->push_back(ptr->points[i]); if (ptr->points[i].curvature / double(1000) + get_time_sec(msg-

header.stamp) - time_div >
cut_frame_time_interval) {
if (ptr_div->size() < 1) continue;
PointCloudXYZI::Ptr ptr_div_i(new PointCloudXYZI());
// cout << "ptr div num:" << ptr_div->size() << endl;
*ptr_div_i = *ptr_div;
// cout << "ptr div i num:" << ptr_div_i->size() << endl;
lidar_buffer.push_back(ptr_div_i);
time_buffer.push_back(time_div);

time_div += ptr->points[i].curvature / double(1000); ptr_div->clear(); } } if (!ptr_div->empty()) { lidar_buffer.push_back(ptr_div); // ptr_div->clear(); time_buffer.push_back(time_div); } } else if (con_frame) { if (frame_ct == 0) { time_con = last_timestamp_lidar; //get_time_sec(msg->header.stamp); } if (frame_ct < con_frame_num) { for (int i = 0; i < ptr->size(); i++) { ptr->points[i].curvature += (last_timestamp_lidar - time_con)

• 1000;
  ptr_con->push_back(ptr->points[i]);
  }
  frame_ct++;
  } else {
  PointCloudXYZI::Ptr ptr_con_i(new PointCloudXYZI());
  *ptr_con_i = *ptr_con;
  double time_con_i = time_con;
  lidar_buffer.push_back(ptr_con_i);
  time_buffer.push_back(time_con_i);
  ptr_con->clear();
  frame_ct = 0;
  }
  } else {
  lidar_buffer.emplace_back(ptr);
  time_buffer.emplace_back(get_time_sec(msg->header.stamp));
  }
  s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time;
  mtx_buffer.unlock();
  sig_buffer.notify_all();
  }
  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_pcl;
  rclcpp::Subscription<livox_ros_driver2::msg::CustomMsg>::SharedPtr
  sub_pcl_livox_;
  if (p_pre->lidar_type == AVIA) {
  sub_pcl_livox_ = nh-

create_subscription<livox_ros_driver2::msg::CustomMsg>(lid_topic, 20,
livox_pcl_cbk);
} else {
sub_pcl = nh->create_subscription<sensor_msgs::msg::PointCloud2>
(lid_topic, rclcpp::SensorDataQoS(), standard_pcl_cbk);
}

4.preprocess.cpp void Preprocess::process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out) { avia_handler(msg); *pcl_out = pl_surf; } void Preprocess::avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg) { pl_surf.clear(); pl_corn.clear(); pl_full.clear(); double t1 = omp_get_wtime(); int plsize = msg->point_num; pl_corn.reserve(plsize); pl_surf.reserve(plsize); pl_full.resize(plsize); uint valid_num = 0; for (uint i = 1; i < plsize; i++) { if ((msg->points[i].line < N_SCANS) && ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00)) { valid_num++; if (valid_num % point_filter_num == 0) { pl_full[i].x = msg->points[i].x; pl_full[i].y = msg->points[i].y; pl_full[i].z = msg->points[i].z; pl_full[i].intensity = msg->points[i].reflectivity; pl_full[i].curvature = msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points, curvature unit: ms if (i == 0) pl_full[i].curvature = fabs(pl_full[i].curvature) < 1.0 ? pl_full[i].curvature : 0.0; else pl_full[i].curvature =

fabs(pl_full[i].curvature - pl_full[i - 1].curvature) < 1.0 ? pl_full[i].curvature : pl_full[i - 1].curvature + 0.004166667f; if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7) || (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7) || (abs(pl_full[i].z - pl_full[i - 1].z) > 1e-7) && (pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z > (blind * blind))) { pl_surf.push_back(pl_full[i]); } } } } } 5.preprocess.h //add code #include <livox_ros_driver2/msg/custom_msg.hpp> void process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out); void avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg);

There is no code that needs to be modified. Just uncomment the corresponding code in these files and then compile it. The lidar I use is also MID360! Hope it can help you!

It might be a bit messy. Hope you can understand! Sorry.

[LiqunXu]

Sure！The following are the files that need to be modified： 1.CmakeList.txt: find_package(livox_ros_driver2 REQUIRED)

fix code

ament_target_dependencies(pointlio_mapping rclcpp rclpy geometry_msgs nav_msgs sensor_msgs pcl_ros pcl_conversions tf2_ros visualization_msgs livox_ros_driver2 )

Export dependencies

ament_export_dependencies(rclcpp rclpy geometry_msgs nav_msgs sensor_msgs pcl_ros pcl_conversions tf2_ros visualization_msgs livox_ros_driver2 Eigen3 )
2.package.xml

add code

livox_ros_driver2
3.laserMapping.cpp
#include <livox_ros_driver2/msg/custom_msg.hpp> void livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::SharedPtr msg) { mtx_buffer.lock(); double preprocess_start_time = omp_get_wtime(); scan_count++; if (get_time_sec(msg->header.stamp) < last_timestamp_lidar) { RCLCPP_ERROR(logger, "lidar loop back, clear buffer"); mtx_buffer.unlock(); sig_buffer.notify_all(); return; } last_timestamp_lidar = get_time_sec(msg->header.stamp); PointCloudXYZI::Ptr ptr(new PointCloudXYZI()); PointCloudXYZI::Ptr ptr_div(new PointCloudXYZI()); p_pre->process(msg, ptr); double time_div = get_time_sec(msg->header.stamp); if (cut_frame) { sort(ptr->points.begin(), ptr->points.end(), time_list); for (int i = 0; i < ptr->size(); i++) { ptr_div->push_back(ptr->points[i]); if (ptr->points[i].curvature / double(1000) + get_time_sec(msg-

header.stamp) - time_div >
cut_frame_time_interval) {
if (ptr_div->size() < 1) continue;
PointCloudXYZI::Ptr ptr_div_i(new PointCloudXYZI());
// cout << "ptr div num:" << ptr_div->size() << endl;
*ptr_div_i = *ptr_div;
// cout << "ptr div i num:" << ptr_div_i->size() << endl;
lidar_buffer.push_back(ptr_div_i);
time_buffer.push_back(time_div);

time_div += ptr->points[i].curvature / double(1000); ptr_div->clear(); } } if (!ptr_div->empty()) { lidar_buffer.push_back(ptr_div); // ptr_div->clear(); time_buffer.push_back(time_div); } } else if (con_frame) { if (frame_ct == 0) { time_con = last_timestamp_lidar; //get_time_sec(msg->header.stamp); } if (frame_ct < con_frame_num) { for (int i = 0; i < ptr->size(); i++) { ptr->points[i].curvature += (last_timestamp_lidar - time_con)

• 1000;
  ptr_con->push_back(ptr->points[i]);
  }
  frame_ct++;
  } else {
  PointCloudXYZI::Ptr ptr_con_i(new PointCloudXYZI());
  *ptr_con_i = *ptr_con;
  double time_con_i = time_con;
  lidar_buffer.push_back(ptr_con_i);
  time_buffer.push_back(time_con_i);
  ptr_con->clear();
  frame_ct = 0;
  }
  } else {
  lidar_buffer.emplace_back(ptr);
  time_buffer.emplace_back(get_time_sec(msg->header.stamp));
  }
  s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time;
  mtx_buffer.unlock();
  sig_buffer.notify_all();
  }
  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_pcl;
  rclcpp::Subscription<livox_ros_driver2::msg::CustomMsg>::SharedPtr
  sub_pcl_livox_;
  if (p_pre->lidar_type == AVIA) {
  sub_pcl_livox_ = nh-

create_subscription<livox_ros_driver2::msg::CustomMsg>(lid_topic, 20,
livox_pcl_cbk);
} else {
sub_pcl = nh->create_subscription<sensor_msgs::msg::PointCloud2>
(lid_topic, rclcpp::SensorDataQoS(), standard_pcl_cbk);
}

4.preprocess.cpp void Preprocess::process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out) { avia_handler(msg); *pcl_out = pl_surf; } void Preprocess::avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg) { pl_surf.clear(); pl_corn.clear(); pl_full.clear(); double t1 = omp_get_wtime(); int plsize = msg->point_num; pl_corn.reserve(plsize); pl_surf.reserve(plsize); pl_full.resize(plsize); uint valid_num = 0; for (uint i = 1; i < plsize; i++) { if ((msg->points[i].line < N_SCANS) && ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00)) { valid_num++; if (valid_num % point_filter_num == 0) { pl_full[i].x = msg->points[i].x; pl_full[i].y = msg->points[i].y; pl_full[i].z = msg->points[i].z; pl_full[i].intensity = msg->points[i].reflectivity; pl_full[i].curvature = msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points, curvature unit: ms if (i == 0) pl_full[i].curvature = fabs(pl_full[i].curvature) < 1.0 ? pl_full[i].curvature : 0.0; else pl_full[i].curvature =
fabs(pl_full[i].curvature - pl_full[i - 1].curvature) < 1.0 ? pl_full[i].curvature : pl_full[i - 1].curvature + 0.004166667f; if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7) || (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7) || (abs(pl_full[i].z - pl_full[i - 1].z) > 1e-7) && (pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z > (blind * blind))) { pl_surf.push_back(pl_full[i]); } } } } } 5.preprocess.h //add code #include <livox_ros_driver2/msg/custom_msg.hpp> void process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out); void avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg);
There is no code that needs to be modified. Just uncomment the corresponding code in these files and then compile it. The lidar I use is also MID360! Hope it can help you!

It might be a bit messy. Hope you can understand! Sorry.

Really appreciate it!

[inkccc]

我也遇到 解决了 谢谢!

[anirudhsosale]

Hello , The above method of using the custom Livox pointcloud messages works with Livox mid360 for me , Was anyone able to use standard pointclouds2 message format and make it work with point-lio slam in ros2?

Thank you.

[wzhaofeng]

Sure！The following are the files that need to be modified： 1.CmakeList.txt: find_package(livox_ros_driver2 REQUIRED)

fix code

ament_target_dependencies(pointlio_mapping rclcpp rclpy geometry_msgs nav_msgs sensor_msgs pcl_ros pcl_conversions tf2_ros visualization_msgs livox_ros_driver2 )

Export dependencies

ament_export_dependencies(rclcpp rclpy geometry_msgs nav_msgs sensor_msgs pcl_ros pcl_conversions tf2_ros visualization_msgs livox_ros_driver2 Eigen3 )
2.package.xml

add code

livox_ros_driver2
3.laserMapping.cpp
#include <livox_ros_driver2/msg/custom_msg.hpp> void livox_pcl_cbk(const livox_ros_driver2::msg::CustomMsg::SharedPtr msg) { mtx_buffer.lock(); double preprocess_start_time = omp_get_wtime(); scan_count++; if (get_time_sec(msg->header.stamp) < last_timestamp_lidar) { RCLCPP_ERROR(logger, "lidar loop back, clear buffer"); mtx_buffer.unlock(); sig_buffer.notify_all(); return; } last_timestamp_lidar = get_time_sec(msg->header.stamp); PointCloudXYZI::Ptr ptr(new PointCloudXYZI()); PointCloudXYZI::Ptr ptr_div(new PointCloudXYZI()); p_pre->process(msg, ptr); double time_div = get_time_sec(msg->header.stamp); if (cut_frame) { sort(ptr->points.begin(), ptr->points.end(), time_list); for (int i = 0; i < ptr->size(); i++) { ptr_div->push_back(ptr->points[i]); if (ptr->points[i].curvature / double(1000) + get_time_sec(msg-

header.stamp) - time_div >
cut_frame_time_interval) {
if (ptr_div->size() < 1) continue;
PointCloudXYZI::Ptr ptr_div_i(new PointCloudXYZI());
// cout << "ptr div num:" << ptr_div->size() << endl;
*ptr_div_i = *ptr_div;
// cout << "ptr div i num:" << ptr_div_i->size() << endl;
lidar_buffer.push_back(ptr_div_i);
time_buffer.push_back(time_div);

time_div += ptr->points[i].curvature / double(1000); ptr_div->clear(); } } if (!ptr_div->empty()) { lidar_buffer.push_back(ptr_div); // ptr_div->clear(); time_buffer.push_back(time_div); } } else if (con_frame) { if (frame_ct == 0) { time_con = last_timestamp_lidar; //get_time_sec(msg->header.stamp); } if (frame_ct < con_frame_num) { for (int i = 0; i < ptr->size(); i++) { ptr->points[i].curvature += (last_timestamp_lidar - time_con)

• 1000;
  ptr_con->push_back(ptr->points[i]);
  }
  frame_ct++;
  } else {
  PointCloudXYZI::Ptr ptr_con_i(new PointCloudXYZI());
  *ptr_con_i = *ptr_con;
  double time_con_i = time_con;
  lidar_buffer.push_back(ptr_con_i);
  time_buffer.push_back(time_con_i);
  ptr_con->clear();
  frame_ct = 0;
  }
  } else {
  lidar_buffer.emplace_back(ptr);
  time_buffer.emplace_back(get_time_sec(msg->header.stamp));
  }
  s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time;
  mtx_buffer.unlock();
  sig_buffer.notify_all();
  }
  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_pcl;
  rclcpp::Subscription<livox_ros_driver2::msg::CustomMsg>::SharedPtr
  sub_pcl_livox_;
  if (p_pre->lidar_type == AVIA) {
  sub_pcl_livox_ = nh-

create_subscription<livox_ros_driver2::msg::CustomMsg>(lid_topic, 20,
livox_pcl_cbk);
} else {
sub_pcl = nh->create_subscription<sensor_msgs::msg::PointCloud2>
(lid_topic, rclcpp::SensorDataQoS(), standard_pcl_cbk);
}

4.preprocess.cpp void Preprocess::process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out) { avia_handler(msg); *pcl_out = pl_surf; } void Preprocess::avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg) { pl_surf.clear(); pl_corn.clear(); pl_full.clear(); double t1 = omp_get_wtime(); int plsize = msg->point_num; pl_corn.reserve(plsize); pl_surf.reserve(plsize); pl_full.resize(plsize); uint valid_num = 0; for (uint i = 1; i < plsize; i++) { if ((msg->points[i].line < N_SCANS) && ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00)) { valid_num++; if (valid_num % point_filter_num == 0) { pl_full[i].x = msg->points[i].x; pl_full[i].y = msg->points[i].y; pl_full[i].z = msg->points[i].z; pl_full[i].intensity = msg->points[i].reflectivity; pl_full[i].curvature = msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points, curvature unit: ms if (i == 0) pl_full[i].curvature = fabs(pl_full[i].curvature) < 1.0 ? pl_full[i].curvature : 0.0; else pl_full[i].curvature =
fabs(pl_full[i].curvature - pl_full[i - 1].curvature) < 1.0 ? pl_full[i].curvature : pl_full[i - 1].curvature + 0.004166667f; if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7) || (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7) || (abs(pl_full[i].z - pl_full[i - 1].z) > 1e-7) && (pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z > (blind * blind))) { pl_surf.push_back(pl_full[i]); } } } } } 5.preprocess.h //add code #include <livox_ros_driver2/msg/custom_msg.hpp> void process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out); void avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg);
There is no code that needs to be modified. Just uncomment the corresponding code in these files and then compile it. The lidar I use is also MID360! Hope it can help you!

It might be a bit messy. Hope you can understand! Sorry.

Really appreciate it!

Hello, I commented out the code as he said, but when compiling the following code:if (p_pre->lidar_type == AVIA) { sub_pcl_livox_ = nh->create_subscription<livox_ros_driver2::msg::CustomMsg>(lid_topic, 20, livox_pcl_cbk);} else { sub_pcl = nh->create_subscription<sensor_msgs::msg::PointCloud2>(lid_topic, rclcpp::SensorDataQoS(), standard_pcl_cbk);}there was a compilation error. I commented out this part and recompiled. When lidar_type is set to 1, it shows 'Error lidar_type'; when set to 2, there is a problem with the 'time' and 'ring' fields not matching. Could you help me resolve this?

[XYjy949]

As far as I know, point-lio can still run even if time and ring are not matched. It is recommended to carefully check whether there are any comments that have not been removed or only partially removed. Good luck!

[wzhaofeng]

As far as I know, point-lio can still run even if time and ring are not matched. It is recommended to carefully check whether there are any comments that have not been removed or only partially removed. Good luck!

I overlooked this time/ring error. It can run directly, but in RViz I cannot see the created map, such as the map point cloud corresponding to /liser_map. Should I set some parameter in the YAML file for mapping?

[XYjy949]

As far as I know, point-lio can still run even if time and ring are not matched. It is recommended to carefully check whether there are any comments that have not been removed or only partially removed. Good luck!

I overlooked this time/ring error. It can run directly, but in RViz I cannot see the created map, such as the map point cloud corresponding to /liser_map. Should I set some parameter in the YAML file for mapping?

用其他lio算法有输出吗，没有看到地图的话有挺多原因的，但其实还比较好排查。我用的也是mid360

[wzhaofeng]

As far as I know, point-lio can still run even if time and ring are not matched. It is recommended to carefully check whether there are any comments that have not been removed or only partially removed. Good luck!

I overlooked this time/ring error. It can run directly, but in RViz I cannot see the created map, such as the map point cloud corresponding to /liser_map. Should I set some parameter in the YAML file for mapping?

用其他lio算法有输出吗，没有看到地图的话有挺多原因的，但其实还比较好排查。我用的也是mid360

有了保存pcd文件就可以实时查看map了，但是很稀疏，没有hku公布的这么密集，使用pcl-viewer查看倒是很密集

[XYjy949]

As far as I know, point-lio can still run even if time and ring are not matched. It is recommended to carefully check whether there are any comments that have not been removed or only partially removed. Good luck!

I overlooked this time/ring error. It can run directly, but in RViz I cannot see the created map, such as the map point cloud corresponding to /liser_map. Should I set some parameter in the YAML file for mapping?

用其他lio算法有输出吗，没有看到地图的话有挺多原因的，但其实还比较好排查。我用的也是mid360

有了保存pcd文件就可以实时查看map了，但是很稀疏，没有hku公布的这么密集，使用pcl-viewer查看倒是很密集

那可能和场景、参数有关系了，慢慢调哇

[haohaohuahua]

As far as I know, point-lio can still run even if time and ring are not matched. It is recommended to carefully check whether there are any comments that have not been removed or only partially removed. Good luck!

I overlooked this time/ring error. It can run directly, but in RViz I cannot see the created map, such as the map point cloud corresponding to /liser_map. Should I set some parameter in the YAML file for mapping?

用其他lio算法有输出吗，没有看到地图的话有挺多原因的，但其实还比较好排查。我用的也是mid360

有了保存pcd文件就可以实时查看map了，但是很稀疏，没有hku公布的这么密集，使用pcl-viewer查看倒是很密集

大佬我按这个成功跑起来了，但是点云非常稀疏，有问题吗

[haohaohuahua]

As far as I know, point-lio can still run even if time and ring are not matched. It is recommended to carefully check whether there are any comments that have not been removed or only partially removed. Good luck!

I overlooked this time/ring error. It can run directly, but in RViz I cannot see the created map, such as the map point cloud corresponding to /liser_map. Should I set some parameter in the YAML file for mapping?

用其他lio算法有输出吗，没有看到地图的话有挺多原因的，但其实还比较好排查。我用的也是mid360

有了保存pcd文件就可以实时查看map了，但是很稀疏，没有hku公布的这么密集，使用pcl-viewer查看倒是很密集

那可能和场景、参数有关系了，慢慢调哇

我摇了摇雷达，里程计直接漂移了QAQ