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Add publish_n_pkts param

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xiexun
2025-09-16 09:07:28 +08:00
parent b223624090
commit b3c134d693
5 changed files with 244 additions and 15 deletions
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Lidar.MD
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@@ -55,11 +55,8 @@ rviz2
```
1. Open Rviz2.
2. Add a `PointCloud2` or `LaserScan` display.
3. For `PointCloud2`, select the `/lidar/cloud/points` topic; for `LaserScan`, select the `/lidar/scan/points` topic.
4. Set the `Fixed Frame` to `lidar_lidar_frame` to properly align the data.
* `PointCloud2` visualization example:
@@ -119,6 +116,7 @@ The `lidar.launch.py` file contains default parameters for the driver. You can c
- **tf_publish_rate**: TF publishing frequency.
- **lidar_format**: Data format for the LiDAR. Optional values: `LIDAR_POINT`, `LIDAR_SPHERE_POINT`, `LIDAR_SCAN`
- **lidar_rate**: Scan rate of the LiDAR.
- **publish_n_pkts**: Number of frames to accumulate before publishing merged point cloud. Range: 1-12000. Only effective when lidar_format is `LIDAR_POINT` or `LIDAR_SPHERE_POINT`, used to merge specified number of frames before publishing. Default value: `1`
- **enable_scan_to_point**: Enable conversion of scan data to point cloud data, publishing PointCloud2 data type topics.
- **repetitive_scan_mode**: Repetitive scan mode parameter.
- **filter_level**: Add filter level parameter.
@@ -143,14 +141,15 @@ The `lidar.launch.py` file contains default parameters for the driver. You can c
## Point Cloud Data Detailed Description
Livox PointCloud2 (PointXYZRT) point cloud format is as follows:
PointCloud2 (PointXYZITO) point cloud format is as follows:
```
float32 x # X axis, unit:m
float32 y # Y axis, unit:m
float32 z # Z axis, unit:m
uint8 intensity # lidar intensity
uint8 intensity # lidar intensity
uint8 tag # lidar tag
uint32 offset_time # Point cloud offset time relative to topic time, in nanoseconds
```
## 3. IMU Data
@@ -178,6 +177,7 @@ ros2 topic echo /lidar/imu/sample
```
The IMU data includes:
- **linear_acceleration**: 3D acceleration data (x, y, z) in m/s²
- **angular_velocity**: 3D angular velocity data (x, y, z) in rad/s
- **orientation**: Quaternion orientation (not provided by hardware, set to zero)