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

{
  "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:

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:

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):

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

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

Usage

Network Setup

Connect Livox sensor to your computer via Ethernet
Set your host IP to match host_net_info configuration (e.g., 192.168.1.5)
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:

"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:

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