Livox Integration

[Francesco Perasso]

sorry but this simple scheme that uses the MID40 livox, explains how to connect it to the uINS sensor of the inertial Sense, but with which github you have to use it, because that of APX15 worked with a dedicated package called Livox_high_precision_: mapping, but this to be connected with uINS with what package must use it? Where can I find all the Lidar + IMU and time Sync data? Thank you.

https://github.com/Livox-SDK/LivoxIntegration/blob/master/Integrating%20Livox%20LiDARs%20with%20INS.md

 

[Mad Nadir]

It's not clear what you are looking for. A software package to log the INS data? The lidar data? To georeference?

MNM

[Francesco Perasso]

Hi, thanks for replying, maybe I didn't explain myself well. with the MID40 sensor if you launch the commands for example "livox_lidar_rviz.launch" the MID40 starts transmitting the points and moving in the rviz environment displays them, but as you well know then that display is only a realtime, and I need to record all the path in a single file which will then be used to map roads, buildings or large environments. The problem is, if I manage to record the path and analyze it, it is full of distortions, because without an on-board imu MID40 uses only the corner and surface reflection data to close the point cloud causing huge distortion errors. This is why I would like to connect the uINS IMU to eliminate the problem by creating a correct odometry. My question is: if I connect as shown in the diagram both MID40 with IMU + GPS, synchronizing everything with the PPS, always using the same package, the github livox_ros_driver with the various launches that you make available for the tests, for example "livox_lidar_rviz.launch "Will I see a cloud finally corrected without distortion? That is, what RVIZ publishes will be the result of the points arriving from MID40 + the IMU data, which through the necessary algorithms will finally be rectified correctly? That cloud by recording it in a rosbag file, will the mapping I want perfectly aligned? is there a way to record all aligned points and all IMU data + GPS data in a file which can then also be used for georeferencing? I also tried to use LoamLivox, but you always get excessive distortions, then you published LIO_Livox which theoretically should also work with MID40 but I tried and rviz does not display anything. That's why I'm trying to figure out which package to use by connecting mid40 with uINS and a GPS antenna. Sorry for my questions, but Livox no longer sells any AVIA or Horizon that I would have liked to buy and which already have a low quality IMU on board, but integrated with the system, your sensors have been unavailable for months and this is a problem , because I can't progress and do my tests to get a decent mapping, because you publish packages, but the livox sensors are missing to test the system. Thanks if you can help me.

[Mad Nadir]

Note that I am not affiliated with Livox.

I'd check this out. https://github.com/hku-mars/FAST_LIO

Also, they talk about time sync several times. e.g., https://github.com/hku-mars/FAST_LIO/issues/44

I'd suggest to ask specific questions to the github repository itself. You'll likely get a better response. 

If you want some info about direct georeferencing methods, let me know.

MNM