ubuntu22.04配置MID360激光雷达

0.准备

ros2 版本 humble

给雷达供电接入电脑，设置静态ip

雷达的ip地址为192.168.1.1xx,其中的xx是贴在雷达上面的SN码的最后两位数我的是92

所以ip为192.168.1.192

1.sdk2

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build
cd build
cmake .. && make -j
sudo make install

1.1删除sdk如下

sudo rm -rf /usr/local/lib/liblivox_lidar_sdk_*
sudo rm -rf /usr/local/include/livox_lidar_*

2.livox_ros_driver2

获取工作空间

git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2

cd ws_livox/src/livox_ros_driver2

./build.sh humble

3.修改/ws_livox/src/livox_ros_driver2/config/mid360配置文件

参考如下

{"lidar_summary_info" : {"lidar_type": 8},"MID360": {"lidar_net_info" : {"cmd_data_port": 56100,"push_msg_port": 56200,"point_data_port": 56300,"imu_data_port": 56400,"log_data_port": 56500},"host_net_info" : {"cmd_data_ip" : "192.168.1.51","cmd_data_port": 56101,"push_msg_ip": "192.168.1.51","push_msg_port": 56201,"point_data_ip": "192.168.1.51","point_data_port": 56301,"imu_data_ip" : "192.168.1.51","imu_data_port": 56401,"log_data_ip" : "","log_data_port": 56501}},"lidar_configs" : [{"ip" : "192.168.1.192","pcl_data_type" : 1,"pattern_mode" : 0,"extrinsic_parameter" : {"roll": 0.0,"pitch": 0.0,"yaw": 0.0,"x": 0,"y": 0,"z": 0}}]
}

4.修改动态链接库路径

错误信息： [livox_ros_driver2_node-1] 抛出 "class_loader::LibraryLoadException" 异常 [livox_ros_driver2_node-1] 具体错误：无法加载库 dlopen 错误：liblivox_lidar_sdk_shared.so - 无法打开共享对象文件（文件不存在），位于 ./src/shared_library.c:99

# 找到 Livox SDK 安装位置
find ~ -name "liblivox_lidar_sdk_shared.so" 2>/dev/null

请确保将 SDK 文件 liblivox_lidar_sdk_shared.so 手动复制到 ~/ws_livox/install/livox_ros_driver2/lib 目录下，否则运行时会报错

5.通过rviz2查看点云

colcon build

source install/setup.bash

ros2 launch livox_ros_driver2 rviz_MID360_launch.py 

更多细节查看livox-wiki

https://livox-wiki-cn.readthedocs.io/zh-cn/latest/tutorials/new_product/mid360/mid360.htmlhttps://livox-wiki-cn.readthedocs.io/zh-cn/latest/tutorials/new_product/mid360/mid360.html