🪴 Jisang Yun

3DLiDAR - Livox Mid-360 setup

2 min read

Livox Mid-360 3D LiDAR

How to setup?

  1. From the User-Manual page10 connection part, setup the Network. static IP address of the computer to 192.168.1.50 // Netmask as 255.255.255.0

  2. Follow the instruction at the livox_ros_driver-github.

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

  • Check the Serial Number. And last two digit used for the LiDAR ip address.
    For example 192.168.1.1xx -> 192.168.1.158

  • Update IP address inside the config file(MID360_config.json)

    ~/ws_livox/src/livox_ros_driver2/config (master*) » vim MID360_config.json

    {
  "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" : { ## update here
      "cmd_data_ip" : "192.168.1.50", #
      "cmd_data_port": 56101,
      "push_msg_ip": "192.168.1.50", #
      "push_msg_port": 56201,
      "point_data_ip": "192.168.1.50", #
      "point_data_port": 56301,
      "imu_data_ip" : "192.168.1.50", #
      "imu_data_port": 56401,
      "log_data_ip" : "",
      "log_data_port": 56501
    }
  },
  "lidar_configs" : [
    {
      "ip" : "192.168.1.158", # also update here
      "pcl_data_type" : 1,
      "pattern_mode" : 0,
      "extrinsic_parameter" : {
        "roll": 0.0,
        "pitch": 0.0,
        "yaw": 0.0,
        "x": 0,
        "y": 0,
        "z": 0
      }
    }
  ]
}

  • Build file

    ~/ws_livox/src/livox_ros_driver2 (master*) » ./build.sh humble

  • Launch with rviz2

    ~/ws_livox » source install/setup.zsh

    ~/ws_livox » ros2 launch livox_ros_driver2 rviz_MID360_launch.py

Result

Common Errors

  • Livox-SDK2 Need to setup SDK
  • When point clouds not showing after all setup, checkout firewall setting for the ports

Tip

  • You can also change point clouds publish-frequency(publish_freq = 10.0 / 20.0 / 50.0 …)

Reference

Graph View