Wiki for Livox Lidar Mid-40 integration with Inertial Sense µINS

[Noli Sicad]

Hi,

It seems that Livox Mid-40 has properly integrated with  Inertial Sense µINS.

https://inertialsense.com/products/gnss-ins-rtk-sensors/

https://www.livoxtech.com/showcase/1

When are you going to publish a wiki or github on this project?

Or ROS Wiki for Livox Lidar Mid-40 integration with Inertial Sense µINS?

Thanks.

Noli

[Seth Zora]

Agreed. I just purchased their INS today and would love some guidance on how to best proceed. Make it easy for a new person to follow please.

[rusla...@gmail.com]

Dear Seth, 
Were you able to obtain some guidance on how to proceed with that? I would really appreciate your help,
Or anyone else's =)

[Seth Zora]

Still a work in progress. Livox arrives today and INS tomorrow.

[Livox Dev Team]

Livox Lidar Mid-40 integration with Inertial Sense µINS will be updated in github wiki in next few days.

[Michael Smith]

Feel free to reach out to me and I can try to help in whatever way I can. Just finished setting up a Mid40 with Inertial Sense µINS. It's been quite a process as like you alluded to, none of the documentation currently available is suitable for the µINS, but everything is up and running now.

[Seth Zora]

Can you email me directly? I’m working on setting this up myself. My email is zor...@aerdia.com. Thank you.

[Livox Dev Team]

Integrating Livox LiDARs with μINS‘s’ document has been updated at https://github.com/Livox-SDK/LivoxIntegration/blob/master/Integrating%20Livox%20LiDARs%20with%20INS.md,  if there is anything unclear please tell us.

[Seth Zora]

Thanks for the update. What about using the raspberry pi 4b as it has better specs?

[Livox Dev Team]

Sorry,  we didn't test it on raspberry pi 4b.

[Michael Smith]

Trying to use the lidar_utc_sync sample with the Mid-40. The GPRMC signal coming from the INS is accurate, but I am receiving a "Lidar set GPRMC synchronization time error code: -3" message. I haven't been able to find any information in documentation about this. Are you able to provide any insight on how to fix this error code?

[Seth Zora]

Are you using this on a drone?

[Livox Dev Team]

I'm sorry Livox-SDK v2.0.0 currently only supports Horizon‘s UTC synchronization,  not well support for Mid40.

Documentation  and well support for Mid-40 on lidar_utc_sync sample will be updated in next Livox-SDK release.

If you want to use the lidar_utc_sync sample with the Mid-40, a temporary solution is: 

1. Update Mid40's firmware to v03.07.0000 or above (through the Livox Viewer).

2. Modify line 738 of Livox-SDK\sdk_core\ SRC \command_handler\command_impl.cpp

from: 

  if (device_manager().device_mode() != kDeviceModeLidar

      || device_manager().IsLidarMid40(handle)) {

    return kStatusNotSupported;

  }

to:

  if (device_manager().device_mode() != kDeviceModeLidar)  {

    return kStatusNotSupported;

  }

and then rebuild Livox-SDK, it will be worked with Mid-40 to use the lidar_utc_sync sample.

[rusla...@gmail.com]

It's awesome you are here, Michael,

Could you please email me directly to rusla...@gmail.com or whatsapp me on +77472957069?

Thanks in advance

[hdemel...@gmail.com]

Hello, Did you use Raspberry Pi 3 B+? I know you have a requirement for Ubuntu 16.04, however there is not an official Raspberry Pi release for the 3.B+. I have just purchased my first MID-40, I plan to use the InertialSense uIMU. Also, any planned updates to Livox Viewer or SDK? Thanks.

[Rishu Bagla]

Hi, is m40 integration with inertial sense UINS kit is ready to use product using livox SDX. Is anyone successful to integrate it with drone as presented in Livox showcase, if yes how much is the expected RMS Accuracy and approx cost.
I read all the comments in different groups but no where any found any strong evidence of confirmation.
It will be highly appreciated if anyone provide any useful insight on it.

[Nicholas Dryer]

I am following the instructions on the block diagram using the uINS from inertial sense. Are the pins correct in the block diagram or should i follow the pins from manufacturer? 

Thanks

[rusla...@gmail.com]

It's better to use Rpi4, I tried to use rpi 3. and used the experimental version of Ubuntu

[Bill Webber]

I have the Mid-40, the Inertial Sense INS, and Raspberry Pi 4B.  I've been successful at running lidar_utc_sync and lidar_lvx_file.  These two programs cannot be run at the same time without disconnecting the Mid40.  Somehow the code needs to be merged together into a single executable, which I'm having trouble with.  Anyone have any suggestions?  

[Praks Mark]

Hi Bill,

I just started with the same project but with the basic level - it would be really helpful if I could have you help on starting up.

Best,

P