Livox Horizon & GPS time sync problem

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Costas Bellos

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Feb 28, 2021, 2:41:53 PM2/28/21
to Livox LiDARs
Hello, 

I am trying to synchronise my Livox Horizon with GPS and i have some problems for several days now.

I am using the following GPS hardware:

IMG_4950.JPEG

I am trying to use the livox_mapping package in order to create a registered point-cloud and then, with the info of the GPS, somehow to georeference my model.

Unfortunately, when i use the "roslaunch livox_ros_driver livox_lidar_msg.launch" i get the following error: 
----------------------------------------------------------------------------------------------------------------------------

ubuntu@bellos-pi:~$ roslaunch livox_ros_driver livox_lidar_msg.launch

... logging to /home/ubuntu/.ros/log/98cc19e8-79f0-11eb-a6f4-dca632943929/roslaunch-bellos-pi-19617.log

Checking log directory for disk usage. This may take a while.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

 

started roslaunch server http://bellos-pi:34845/

 

SUMMARY

========

 

PARAMETERS

 * /cmdline_file_path: livox_test.lvx

 * /cmdline_str: 100000000000000

 * /data_src: 0

 * /enable_imu_bag: True

 * /enable_lidar_bag: True

 * /frame_id: livox_frame

 * /multi_topic: 0

 * /output_data_type: 0

 * /publish_freq: 10.0

 * /rosdistro: melodic

 * /rosversion: 1.14.10

 * /user_config_path: /home/ubuntu/ws_l...

 * /xfer_format: 1

 

NODES

  /

    livox_lidar_publisher (livox_ros_driver/livox_ros_driver_node)

 

ROS_MASTER_URI=http://localhost:11311

 

process[livox_lidar_publisher-1]: started with pid [19632]

[ INFO] [1614535999.484510977]: Livox Ros Driver Version: 2.6.0

[ INFO] [1614535999.514926607]: Data Source is raw lidar.

[ INFO] [1614535999.517715508]: Config file : /home/ubuntu/ws_livox/src/livox_ros_driver/config/livox_lidar_config.json

Commandline input bd:100000000000000

Invalid bd:100000000000000!

Livox SDK version 2.3.0

broadcast code[3WEDH7600100361] : 1 0 0 0 0 0

Add Raw user config : 3WEDH7600100361

broadcast code[0TFDG3U99101431] : 0 0 0 0 0 0

Enable timesync :

Uart[/dev/ttyACM0],baudrate index[6],parity index[0]

Disable auto connect mode!

List all broadcast code in whiltelist:

3WEDH7600100361

Livox-SDK init success!

[ INFO] [1614535999.530431084]: Init lds lidar success!

Open /dev/ttyACM0 success!

[2021-02-28 18:13:20.438] [console] [info]  Broadcast broadcast code: 3WEDH7600100361  [device_discovery.cpp] [OnBroadcast] [150]

[2021-02-28 18:13:20.440] [console] [info] LocalIP: 192.168.1.50  [device_discovery.cpp] [OnBroadcast] [201]

[2021-02-28 18:13:20.440] [console] [info] DeviceIP: 192.168.1.2  [device_discovery.cpp] [OnBroadcast] [202]

[2021-02-28 18:13:20.440] [console] [info] Command Port: 55501  [device_discovery.cpp] [OnBroadcast] [203]

[2021-02-28 18:13:20.440] [console] [info] Data Port: 56001  [device_discovery.cpp] [OnBroadcast] [204]

[2021-02-28 18:13:20.462] [console] [info] New Device  [device_discovery.cpp] [OnData] [99]

[2021-02-28 18:13:20.462] [console] [info] Handle: 0  [device_discovery.cpp] [OnData] [100]

[2021-02-28 18:13:20.462] [console] [info] Broadcast Code: 3WEDH7600100361  [device_discovery.cpp] [OnData] [101]

[2021-02-28 18:13:20.462] [console] [info] Type: 3  [device_discovery.cpp] [OnData] [102]

[2021-02-28 18:13:20.462] [console] [info] IP: 192.168.1.2  [device_discovery.cpp] [OnData] [103]

[2021-02-28 18:13:20.462] [console] [info] Command Port: 55501  [device_discovery.cpp] [OnData] [104]

[2021-02-28 18:13:20.462] [console] [info] Data Port: 56001  [device_discovery.cpp] [OnData] [105]

[2021-02-28 18:13:20.463] [console] [info]  Send Command: Set 0 Id 2 Seq 3  [command_channel.cpp] [Send] [243]

[2021-02-28 18:13:20.486] [console] [info]  Recieve Ack: Set 0 Id 2 Seq 3  [command_handler.cpp] [OnCommand] [118]

Lidar[3WEDH7600100361] status_code[0] working state[5] feature[0]

[2021-02-28 18:13:20.486] [console] [info]  Send Command: Set 0 Id 2 Seq 4  [command_channel.cpp] [Send] [243]

[2021-02-28 18:13:20.510] [console] [info]  Recieve Ack: Set 0 Id 2 Seq 4  [command_handler.cpp] [OnCommand] [118]

firmware version: 6.10.0.0

[2021-02-28 18:13:20.582] [console] [info]  Update State to 1, device connect true  [device_manager.cpp] [UpdateDeviceState] [257]

Lidar[3WEDH7600100361] status_code[49664] working state[1] feature[0]

[2021-02-28 18:13:20.583] [console] [info]  Send Command: Set 0 Id 5 Seq 6  [command_channel.cpp] [Send] [243]

[2021-02-28 18:13:20.583] [console] [info]  Send Command: Set 1 Id 6 Seq 7  [command_channel.cpp] [Send] [243]

[2021-02-28 18:13:20.584] [console] [info]  Send Command: Set 1 Id 8 Seq 8  [command_channel.cpp] [Send] [243]

[2021-02-28 18:13:20.606] [console] [info]  Recieve Ack: Set 0 Id 5 Seq 6  [command_handler.cpp] [OnCommand] [118]

Set coordinate success!

[2021-02-28 18:13:20.606] [console] [info]  Recieve Ack: Set 1 Id 6 Seq 7  [command_handler.cpp] [OnCommand] [118]

Set return mode success!

[2021-02-28 18:13:20.606] [console] [info]  Recieve Ack: Set 1 Id 8 Seq 8  [command_handler.cpp] [OnCommand] [118]

Set imu rate success!

[2021-02-28 18:13:20.606] [console] [info]  Send Command: Set 0 Id 4 Seq 9  [command_channel.cpp] [Send] [243]

Lidar[0][3WEDH7600100361] DataType[2] PacketInterval[400032] PublishPackets[250]

Lidar[0][3WEDH7600100361] storage queue size : 500 512

[2021-02-28 18:13:20.630] [console] [info]  Recieve Ack: Set 0 Id 4 Seq 9  [command_handler.cpp] [OnCommand] [118]

Lidar start sample success

[ INFO] [1614536000.711038988]: Support only one topic.

[ INFO] [1614536000.714470045]: livox/lidar publish use livox custom format, set ROS publisher queue size 256

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

Set GPRMC synchronization time error code: -1.

------------------------------------------------------------------------------------------------------------------
I get the same error in my laptop (ubuntu 18.04) and in my Raspberry pi 4 ( UBUNTU 18.04).

Questions:
  1. Does livox support also GNRMC synchronisation or ONLY GPRMC?
  2. If i achieve to synchronize it, how can i extract the GPS info in a file?
  3. How can i extract my IMU info?
  4. I need an explanation for my "Set GPRMC synchronization time error code: -1" error.
Thank you all in advance.


*P.S.* ---> For the Livox Team:
I know that the answer is perhaps at the time synchronization manual or the SDK communication protocol, but i have red them several times and i am afraid i need something more at this point. Thank you in advance.



rishub...@gmail.com

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Apr 14, 2021, 12:21:43 PM4/14/21
to Livox LiDARs
Hi

Facing the same issue using Mid 40. In Livox viewer it shown Syn abnormal and using ROS shows same message as described above.

Furthermore, There is a difference of approx 20 minutes in Livox generated timestamp and GPS time stamp (refer sample below).

Livox Sample
Livox Time.PNG

Gps Sample
GPS time.PNG
Regards
Rishu Bagla
BaglasHawk
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