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Merge pull request #3 from jabasai/copilot/fix-logging-and-race-conditions
Single-node dual MID360 driver: eliminate SDK race condition + logging/thread-safety fixes + unified livox CLI
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‎.devcontainer/Dockerfile‎

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FROM ros:humble
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ARG DEBIAN_FRONTEND=noninteractive
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# Install system and ROS2 dependencies
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RUN apt-get update && apt-get install -y \
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build-essential \
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cmake \
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git \
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wget \
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curl \
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python3-colcon-common-extensions \
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python3-rosdep \
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python3-vcstool \
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libpcl-dev \
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libapr1-dev \
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libaprutil1-dev \
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ros-humble-rclcpp \
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ros-humble-rclcpp-components \
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ros-humble-std-msgs \
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ros-humble-sensor-msgs \
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ros-humble-rcl-interfaces \
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ros-humble-pcl-conversions \
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ros-humble-pcl-ros \
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ros-humble-rosbag2 \
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ros-humble-rosidl-default-generators \
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ros-humble-rosidl-default-runtime \
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ros-humble-ament-lint-auto \
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ros-humble-ament-lint-common \
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&& rm -rf /var/lib/apt/lists/*
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RUN \
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echo "Installing livox_sdk2..." && \
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REPO_DIR="/tmp/livox_sdk2_repo" && \
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mkdir -p "$REPO_DIR" && \
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git clone --branch v1.2.5 --depth 1 https://github.com/Livox-SDK/Livox-SDK2.git "$REPO_DIR/Livox-SDK2" && \
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cd "$REPO_DIR/Livox-SDK2" && \
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mkdir -p build && \
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cd build && \
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rm -rf * && \
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cmake .. && \
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make -j$(nproc) && \
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make install && \
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echo "livox_sdk2 installed successfully." && \
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cd "/" && \
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rm -rf "$REPO_DIR" && \
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ldconfig
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# Source ROS2 in every new shell
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RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
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# Set up workspace directory
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WORKDIR /ros2_ws

‎.devcontainer/devcontainer.json‎

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{
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"name": "livox_ros_driver2 (ROS2 Humble)",
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"dockerComposeFile": "docker-compose.yml",
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"service": "devcontainer",
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"workspaceFolder": "/ros2_ws/src/livox_ros_driver2",
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"remoteEnv": {
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"ROS_DISTRO": "humble",
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"AMENT_PREFIX_PATH": "/opt/ros/humble",
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"ROS_DOMAIN_ID": "0"
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},
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-vscode.cpptools",
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"ms-vscode.cmake-tools",
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"ms-python.python"
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],
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"settings": {
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"terminal.integrated.defaultProfile.linux": "bash",
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"terminal.integrated.profiles.linux": {
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"bash": {
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"path": "/bin/bash",
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"args": ["--login"]
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}
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},
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"cmake.buildDirectory": "/ros2_ws/build/livox_ros_driver2",
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"C_Cpp.default.includePath": [
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"/opt/ros/humble/include/**",
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"/ros2_ws/src/livox_ros_driver2/src/**",
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"/ros2_ws/src/livox_ros_driver2/3rdparty/**"
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]
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}
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}
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},
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"postCreateCommand": "cd /ros2_ws && bash -c 'source /opt/ros/humble/setup.bash && cp src/livox_ros_driver2/package_ROS2.xml src/livox_ros_driver2/package.xml'",
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"postStartCommand": ". /opt/ros/humble/setup.sh",
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"features": {}
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}

‎.devcontainer/docker-compose.yml‎

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version: '3.8'
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services:
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devcontainer:
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build:
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context: ..
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dockerfile: .devcontainer/Dockerfile
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volumes:
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- ..:/ros2_ws/src/livox_ros_driver2:cached
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networks:
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default: {}
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livox_net:
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ipv4_address: 192.168.1.10
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command: sleep infinity
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networks:
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livox_net:
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driver: bridge
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ipam:
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driver: default
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config:
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- subnet: 192.168.1.0/24
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gateway: 192.168.1.1

‎.github/copilot-instructions.md‎

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# Livox ROS Driver 2 — Copilot Instructions
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## Project Overview
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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.
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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`.
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## Build and Test
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```bash
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# From the workspace root (/ros2_ws)
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colcon build
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```
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## Architecture
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- **`src/driver_node.*`** — ROS2 node entry point, lifecycle management; includes watchdog timer and Race-3 reconnect timer
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- **`src/lddc.*`** — Lidar Data Distribution Center; routes point cloud and IMU data to ROS publishers
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- **`src/lds_lidar.*` / `src/lds.*`** — Lidar Device Scheduler; manages sensor connections and data pipelines
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- **`src/comm/`** — Low-level communication utilities: queues, semaphores, caching, and the central `PubHandler` (with per-handle allowlist)
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- **`src/call_back/`** — SDK callback handlers for incoming lidar/IMU frames
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- **`src/parse_cfg_file/`** — JSON config file parsing (uses RapidJSON from `3rdparty/`)
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- **`src/include/`** — Shared headers; `ros_headers.h` abstracts ROS1/ROS2 includes; `livox_log.h` provides node-free logging macros
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- **`config/`** — Per-sensor JSON configuration files
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- **`launch/`** — ROS2 Python launch files; `dual_mid360_launch.py` launches ONE node for BOTH MID360 lidars
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- **`src/tools/`** — Standalone CLI tools: `livox_scan` (discover lidars) and `livox_set_ip` (configure lidar IPs)
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## Code Conventions
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- **Language**: C++14, namespace `livox_ros`
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- **Naming**: `PascalCase` for classes, `snake_case` for functions and member variables
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- **Header guards**: `#ifndef LIVOX_<MODULE>_H` / `#define LIVOX_<MODULE>_H`
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- **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`
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- **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
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- **Thread safety**: `connect_state` in `LidarDevice` is `std::atomic<LidarConnectState>`; use `memory_order_acquire` / `memory_order_release` at all access sites
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- **JSON parsing**: Use the bundled RapidJSON library in `3rdparty/rapidjson/`
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- **License header**: All new source files must include the MIT license block present in existing files
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## Dependencies
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Key runtime deps: `rclcpp`, `rclcpp_components`, `sensor_msgs`, `pcl_conversions`, `livox_lidar_sdk`.
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Do **not** add new third-party libraries without updating both `CMakeLists.txt` and `package.xml`.

‎.github/workflows/copilot-setup-steps.yml‎

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name: Copilot Setup Steps
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on:
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workflow_dispatch:
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push:
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branches:
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- master
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paths:
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- .github/workflows/copilot-setup-steps.yml
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pull_request:
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paths:
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- .github/workflows/copilot-setup-steps.yml
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jobs:
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copilot-setup-steps:
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runs-on: ubuntu-22.04
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permissions:
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contents: read
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steps:
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- name: setup workspace
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run: |
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mkdir -p ${GITHUB_WORKSPACE}/src
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- uses: actions/checkout@v6
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with:
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path: src/livox_ros_driver2
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- name: setup ROS environment
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uses: ros-tooling/setup-ros@v0.7
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- name: install workspace dependencies
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run: |
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sudo apt-get update
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sudo apt-get install -y build-essential cmake ros-humble-ros-base
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source /opt/ros/humble/setup.bash
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rosdep update --rosdistro humble
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rosdep install --from-paths ${GITHUB_WORKSPACE}/src --ignore-src -r -y
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- name: install Livox SDK2
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run: |
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REPO_DIR="/tmp/livox_sdk2_repo"
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mkdir -p "$REPO_DIR"
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git clone --branch v1.2.5 --depth 1 https://github.com/Livox-SDK/Livox-SDK2.git "$REPO_DIR/Livox-SDK2"
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cd "$REPO_DIR/Livox-SDK2"
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mkdir -p build && cd build
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cmake ..
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make -j$(nproc)
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sudo make install
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sudo ldconfig
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rm -rf "$REPO_DIR"
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- name: build workspace
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run: |
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cd ${GITHUB_WORKSPACE}
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source /opt/ros/humble/setup.bash
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colcon build --symlink-install --continue-on-error || true
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source install/setup.bash

‎.github/workflows/ros-ci.yml‎

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name: ros CI
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on:
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push:
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# you may want to configure the branches that this should be run on here.
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branches: [ "master" ]
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pull_request:
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jobs:
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test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
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runs-on: ubuntu-latest
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permissions:
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contents: read
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strategy:
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matrix:
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ros_distribution:
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# - noetic
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- humble
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# - iron
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# Define the Docker image(s) associated with each ROS distribution.
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# The include syntax allows additional variables to be defined, like
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# docker_image in this case. See documentation:
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# https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
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#
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# Platforms are defined in REP 3 and REP 2000:
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# https://ros.org/reps/rep-0003.html
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# https://ros.org/reps/rep-2000.html
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include:
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# Noetic Ninjemys (May 2020 - May 2025)
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# - docker_image: ubuntu:focal
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# ros_distribution: noetic
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# ros_version: 1
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# Humble Hawksbill (May 2022 - May 2027)
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- docker_image: ubuntu:jammy
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ros_distribution: humble
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ros_version: 2
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# Iron Irwini (May 2023 - November 2024)
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# - docker_image: ubuntu:jammy
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# ros_distribution: iron
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# ros_version: 2
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# # Rolling Ridley (No End-Of-Life)
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# - docker_image: ubuntu:jammy
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# ros_distribution: rolling
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# ros_version: 2
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container:
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image: ${{ matrix.docker_image }}
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steps:
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- uses: actions/checkout@v6
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with:
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path: src/livox_ros_driver2
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- name: setup ROS environment
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uses: ros-tooling/setup-ros@v0.7
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- name: install build dependencies
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run: |
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apt-get update
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apt-get install -y build-essential cmake
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- name: install Livox SDK2
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run: |
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REPO_DIR="/tmp/livox_sdk2_repo"
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mkdir -p "$REPO_DIR"
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git clone --branch v1.2.5 --depth 1 https://github.com/Livox-SDK/Livox-SDK2.git "$REPO_DIR/Livox-SDK2"
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cd "$REPO_DIR/Livox-SDK2"
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mkdir -p build && cd build
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cmake ..
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make -j$(nproc)
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make install
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ldconfig
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rm -rf "$REPO_DIR"
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- name: build and test ROS 2
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if: ${{ matrix.ros_version == 2 }}
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uses: ros-tooling/action-ros-ci@v0.3
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with:
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import-token: ${{ github.token }}
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target-ros2-distro: ${{ matrix.ros_distribution }}
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skip-tests: true

‎.gitignore‎

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.vscode
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build
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package.xml
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#package.xml
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__pycache__

‎CMakeLists.txt‎

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# Set defaults if not specified, using ROS environment variables when available
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if(NOT DEFINED ROS_EDITION)
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if(DEFINED ENV{ROS_VERSION})
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if("$ENV{ROS_VERSION}" STREQUAL "1")
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set(ROS_EDITION "ROS1" CACHE STRING "ROS edition to build for (ROS1 or ROS2)" FORCE)
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else()
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set(ROS_EDITION "ROS2" CACHE STRING "ROS edition to build for (ROS1 or ROS2)" FORCE)
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endif()
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else()
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set(ROS_EDITION "ROS2" CACHE STRING "ROS edition to build for (ROS1 or ROS2)" FORCE)
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endif()
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endif()
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if(NOT DEFINED HUMBLE_ROS)
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if(DEFINED ENV{ROS_DISTRO})
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set(HUMBLE_ROS "$ENV{ROS_DISTRO}" CACHE STRING "ROS2 distro name" FORCE)
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else()
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set(HUMBLE_ROS "humble" CACHE STRING "ROS2 distro name" FORCE)
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endif()
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endif()
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# judge which cmake codes to use
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if(ROS_EDITION STREQUAL "ROS1")
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EXECUTABLE ${PROJECT_NAME}_node
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)
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# livox: unified command-line tool (search, setup, reboot, reset, firmware_upgrade)
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# Replaces the former livox_set_ip, livox_scan, and livox_reboot tools.
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add_executable(livox src/tools/livox.cpp)
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target_include_directories(livox PRIVATE
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${LIVOX_LIDAR_SDK_INCLUDE_DIR}
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)
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target_link_libraries(livox
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${LIVOX_LIDAR_SDK_LIBRARY}
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)
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install(TARGETS livox
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DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_auto_package(INSTALL_TO_SHARE
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config
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launch_ROS2
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launch
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)
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endif()

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