Livox LiDAR Plugin
==================

The Livox plugin provides driver support for Livox Mid-360 LiDAR sensor.

Overview
--------

The Livox plugin connects to Livox LiDAR sensors via UDP, streaming point cloud and IMU data. It supports multiple concurrent sensors and provides mounting calibration options.

Supported Sensors
^^^^^^^^^^^^^^^^^

* Livox Mid-360 (360-degree coverage)

Configuration
-------------

Configuration File
^^^^^^^^^^^^^^^^^^

Location: ``raisin_livox_lidar_plugin/config/MID360_config.json``

.. code-block:: json

    {
      "lidar_summary_info" : {
        "lidar_type": 8
      },
      "MID360": {
        "lidar_net_info" : {
          "cmd_data_port": 56100,
          "push_msg_port": 56200,
          "point_data_port": 56300,
          "imu_data_port": 56400,
          "log_data_port": 56500
        },
        "host_net_info" : {
          "cmd_data_ip" : "192.168.1.50",
          "cmd_data_port": 56101,
          "push_msg_ip": "192.168.1.50",
          "push_msg_port": 56201,
          "point_data_ip": "192.168.1.50",
          "point_data_port": 56301,
          "imu_data_ip" : "192.168.1.50",
          "imu_data_port": 56401,
          "log_data_ip" : "",
          "log_data_port": 56501
        }
      },
      "lidar_configs" : [
        {
          "ip" : "192.168.1.100",
          "pcl_data_type" : 1,
          "pattern_mode" : 0,
          "extrinsic_parameter" : {
            "roll": 0.0,
            "pitch": 0.0,
            "yaw": 0.0,
            "x": 0,
            "y": 0,
            "z": 0
          }
        }
      ]
    }

.. note::
   The ``lidar_type: 8`` indicates the Livox SDK2 protocol type, not a specific device model.

Parameter Reference
^^^^^^^^^^^^^^^^^^^

Network Configuration:

.. list-table::
   :header-rows: 1
   :widths: 25 15 60

   * - Parameter
     - Default
     - Description
   * - cmd_data_port
     - 56000
     - Command communication port
   * - point_data_port
     - 57000
     - Point cloud data receiving port
   * - imu_data_port
     - 58000
     - IMU data receiving port
   * - log_data_port
     - 59000
     - Log data port

LiDAR Configuration:

.. list-table::
   :header-rows: 1
   :widths: 25 15 60

   * - Parameter
     - Default
     - Description
   * - ip
     - "192.168.1.100"
     - IP address of the LiDAR sensor
   * - pcl_data_type
     - 1
     - Point cloud data format type
   * - pattern_mode
     - 0
     - Scan pattern mode

Extrinsic Parameters (Mounting Calibration):

.. list-table::
   :header-rows: 1
   :widths: 25 15 15 45

   * - Parameter
     - Type
     - Unit
     - Description
   * - roll
     - double
     - radians
     - Roll rotation offset
   * - pitch
     - double
     - radians
     - Pitch rotation offset
   * - yaw
     - double
     - radians
     - Yaw rotation offset
   * - x
     - double
     - meters
     - X translation offset
   * - y
     - double
     - meters
     - Y translation offset
   * - z
     - double
     - meters
     - Z translation offset

Configuration Notes
^^^^^^^^^^^^^^^^^^^

The ``lidar_type`` value in the configuration file refers to the Livox SDK2 protocol type:

* ``lidar_type: 8`` - Livox SDK2 protocol (used for Mid-360)

This value should always be set to 8 for Mid-360 sensors.

Message Topics
--------------

Publishers
^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 30 30 40

   * - Topic
     - Type
     - Description
   * - /livox/lidar
     - sensor_msgs/PointCloud2
     - Point cloud data
   * - /livox/imu
     - sensor_msgs/Imu
     - Integrated IMU measurements

Usage
-----

Network Setup
^^^^^^^^^^^^^

1. Connect Livox sensor to your computer via Ethernet
2. Set your host IP to match ``host_net_info`` configuration (e.g., 192.168.1.5)
3. Ensure the LiDAR IP matches the ``lidar_configs`` ip setting

Multi-Sensor Setup
^^^^^^^^^^^^^^^^^^

To use multiple Livox sensors, add entries to the ``lidar_configs`` array:

.. code-block:: json

    "lidar_configs" : [
      {
        "ip" : "192.168.1.100",
        "extrinsic_parameter" : {
          "roll": 0.0, "pitch": 0.0, "yaw": 0.0,
          "x": 0.2, "y": 0, "z": 0.1
        }
      },
      {
        "ip" : "192.168.1.101",
        "extrinsic_parameter" : {
          "roll": 0.0, "pitch": 0.0, "yaw": 3.14159,
          "x": -0.2, "y": 0, "z": 0.1
        }
      }
    ]

Mounting Calibration
^^^^^^^^^^^^^^^^^^^^

Set the ``extrinsic_parameter`` values to match your physical mounting:

1. Measure the sensor position relative to robot base frame
2. Set x, y, z translation offsets in meters
3. Set roll, pitch, yaw rotation offsets in radians