Lidar Node
Lidar Data Acquisition
Topic
| Topic Name |
Description |
| /lidar/livox_front |
Front lidar |
| /lidar/livox_back |
Rear lidar |
Message Type
sensor_msgs::msg::PointCloud2
| Field |
Type |
Description |
| header |
std_msgs/Header |
Message header, contains timestamp and coordinate frame information |
| height |
uint32 |
Point cloud height (if the point cloud is organized, otherwise 1) |
| width |
uint32 |
Point cloud width (number of points) |
| fields |
PointField[] |
Describes the field structure of each point in the point cloud |
| is_bigendian |
bool |
Data byte order (true indicates big-endian) |
| point_step |
uint32 |
Number of bytes occupied by a single point |
| row_step |
uint32 |
Number of bytes occupied by one row of data |
| data |
uint8[] |
Raw binary data of the point cloud |
| is_dense |
bool |
If true, indicates all points contain valid data |
PointField
| Field |
Type |
Description |
| name |
string |
Field name (e.g.: "x", "y", "z", "rgb", etc.) |
| offset |
uint32 |
Byte offset of the field within the point data |
| datatype |
uint8 |
Data type (1 indicates INT8, 2 indicates UINT8, 3 indicates INT16, 4 indicates UINT16, 5 indicates INT32, 6 indicates UINT32, 7 indicates FLOAT32, 8 indicates FLOAT64) |
| count |
uint32 |
Number of elements in this field |
Launching the ROS2 Forwarding Node
1. Launch with Default Configuration
source ~/.cache/agibot/app/gdk/scripts/ros_env.sh gdk_lidar
ros2 launch gdk_lidar lidar.launch.py
/lidar/livox_front
- /lidar/livox_back
2. Custom Lidar Topics
source ~/.cache/agibot/app/gdk/scripts/ros_env.sh gdk_lidar
# Launch only specific Lidar topics
#ros2 launch gdk_lidar lidar.launch.py lidar_topics:="/lidar/livox_back,/lidar/livox_front"
# Launch a single Lidar topic
#ros2 launch gdk_lidar lidar.launch.py lidar_topics:="/lidar/livox_back"