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Livox ROS Driver 2 — Copilot Instructions

Project Overview

This is a ROS2 device driver for Livox 3D LiDAR sensors (MID360, HAP). It targets ROS2 Humble or later. The codebase also retains partial ROS1 compatibility gated behind #ifdef BUILDING_ROS1 preprocessor guards. But only ever work on the ROS2 code.

The driver supports running a single node that manages multiple lidars (the recommended approach for dual MID360 setups): one SDK instance handles both lidars, eliminating cross-instance SDK race conditions. See launch/dual_mid360_launch.py.

Build and Test

# From the workspace root (/ros2_ws)
colcon build

Architecture

  • src/driver_node.* — ROS2 node entry point, lifecycle management; includes watchdog timer and Race-3 reconnect timer
  • src/lddc.* — Lidar Data Distribution Center; routes point cloud and IMU data to ROS publishers
  • src/lds_lidar.* / src/lds.* — Lidar Device Scheduler; manages sensor connections and data pipelines
  • src/comm/ — Low-level communication utilities: queues, semaphores, caching, and the central PubHandler (with per-handle allowlist)
  • src/call_back/ — SDK callback handlers for incoming lidar/IMU frames
  • src/parse_cfg_file/ — JSON config file parsing (uses RapidJSON from 3rdparty/)
  • src/include/ — Shared headers; ros_headers.h abstracts ROS1/ROS2 includes; livox_log.h provides node-free logging macros
  • config/ — Per-sensor JSON configuration files
  • launch/ — ROS2 Python launch files; dual_mid360_launch.py launches ONE node for BOTH MID360 lidars
  • src/tools/ — Standalone CLI tools: livox_scan (discover lidars) and livox_set_ip (configure lidar IPs)

Code Conventions

  • Language: C++14, namespace livox_ros
  • Naming: PascalCase for classes, snake_case for functions and member variables
  • Header guards: #ifndef LIVOX_<MODULE>_H / #define LIVOX_<MODULE>_H
  • ROS abstraction: Use the wrappers in src/include/ros_headers.h rather than including ROS headers directly; guard any ROS1-specific code with #ifdef BUILDING_ROS1
  • Logging: Use LIVOX_INFO / LIVOX_WARN / LIVOX_ERROR / LIVOX_DEBUG macros from src/include/livox_log.h for node-free logging; they route to RCLCPP_* in ROS2 and ROS_* in ROS1
  • Thread safety: connect_state in LidarDevice is std::atomic<LidarConnectState>; use memory_order_acquire / memory_order_release at all access sites
  • JSON parsing: Use the bundled RapidJSON library in 3rdparty/rapidjson/
  • License header: All new source files must include the MIT license block present in existing files

Dependencies

Key runtime deps: rclcpp, rclcpp_components, sensor_msgs, pcl_conversions, livox_lidar_sdk.
Do not add new third-party libraries without updating both CMakeLists.txt and package.xml.