{"id":57553,"date":"2025-08-15T15:00:06","date_gmt":"2025-08-15T07:00:06","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/57553.html"},"modified":"2025-08-15T15:00:06","modified_gmt":"2025-08-15T07:00:06","slug":"livox-ros-driver-2-readme-md%e4%b8%ad%e6%96%87%e7%bf%bb%e8%af%91%e5%8f%8a%e8%a7%a3%e6%9e%90","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/57553.html","title":{"rendered":"Livox ROS Driver 2 README.md\u4e2d\u6587\u7ffb\u8bd1\u53ca\u89e3\u6790"},"content":{"rendered":"<h2>Livox ROS Driver 2<\/h2>\n<p>Livox ROS Driver 2 \u662f\u7528\u4e8e\u8fde\u63a5 Livox \u751f\u4ea7\u7684\u6fc0\u5149\u96f7\u8fbe\u4ea7\u54c1\u7684\u7b2c\u4e8c\u4ee3\u9a71\u52a8\u7a0b\u5e8f\u5305&#xff0c;\u9002\u7528\u4e8e ROS&#xff08;\u63a8\u8350 Noetic&#xff09;\u548c ROS2&#xff08;\u63a8\u8350 Foxy \u6216 Humble&#xff09;\u3002<\/p>\n<p>\u6ce8\u610f&#xff1a;<\/p>\n<p>Livox ROS Driver \u4f5c\u4e3a\u8c03\u8bd5\u5de5\u5177&#xff0c;\u4e0d\u63a8\u8350\u7528\u4e8e\u91cf\u4ea7&#xff0c;\u4ec5\u9650\u4e8e\u6d4b\u8bd5\u573a\u666f\u3002\u60a8\u5e94\u6839\u636e\u539f\u59cb\u6e90\u4ee3\u7801\u4f18\u5316\u4ee3\u7801\u4ee5\u6ee1\u8db3\u5404\u79cd\u9700\u6c42\u3002<\/p>\n<h3>1. \u51c6\u5907\u5de5\u4f5c<\/h3>\n<h4>1.1 \u64cd\u4f5c\u7cfb\u7edf\u8981\u6c42<\/h4>\n<ul>\n<li>Ubuntu 18.04 &#8211; \u7528\u4e8e ROS Melodic;<\/li>\n<li>Ubuntu 20.04 &#8211; \u7528\u4e8e ROS Noetic \u548c ROS2 Foxy;<\/li>\n<li>Ubuntu 22.04 &#8211; \u7528\u4e8e ROS2 Humble;<\/li>\n<\/ul>\n<p>\u63d0\u793a&#xff1a;<\/p>\n<p>Colcon \u662f ROS2 \u4e2d\u4f7f\u7528\u7684\u6784\u5efa\u5de5\u5177\u3002 \u5982\u4f55\u5b89\u88c5 colcon: Colcon \u5b89\u88c5\u8bf4\u660e<\/p>\n<h4>1.2 \u5b89\u88c5 ROS &amp; ROS2<\/h4>\n<p>ROS Melodic \u5b89\u88c5\u8bf7\u53c2\u8003&#xff1a; ROS Melodic \u5b89\u88c5\u8bf4\u660e<\/p>\n<p>ROS Noetic \u5b89\u88c5\u8bf7\u53c2\u8003&#xff1a; ROS Noetic \u5b89\u88c5\u8bf4\u660e<\/p>\n<p>ROS2 Foxy \u5b89\u88c5\u8bf7\u53c2\u8003&#xff1a; ROS Foxy \u5b89\u88c5\u8bf4\u660e<\/p>\n<p>ROS2 Humble \u5b89\u88c5\u8bf7\u53c2\u8003&#xff1a; ROS Humble \u5b89\u88c5\u8bf4\u660e<\/p>\n<p>\u63a8\u8350\u5b89\u88c5 Desktop-Full \u7248\u672c\u3002<\/p>\n<h3>2. \u6784\u5efa &amp; \u8fd0\u884c Livox ROS Driver 2<\/h3>\n<h4>2.1 \u514b\u9686 Livox ROS Driver 2 \u6e90\u4ee3\u7801&#xff1a;<\/h4>\n<p><span class=\"token builtin class-name\">cd<\/span> <span class=\"token operator\">&lt;<\/span>ros_ws<span class=\"token operator\">&gt;<\/span>\/src<br \/>\n<span class=\"token function\">git<\/span> clone https:\/\/github.com\/Livox-SDK\/livox_ros_driver2.git ws_livox\/src\/livox_ros_driver2<\/p>\n<p>\u6ce8\u610f&#xff1a;<\/p>\n<p>\u8bf7\u52a1\u5fc5\u5c06\u6e90\u4ee3\u7801\u514b\u9686\u5230 [work_space]\/src\/ \u6587\u4ef6\u5939\u4e2d&#xff08;\u5982\u4e0a\u6240\u793a&#xff09;&#xff0c;\u5426\u5219\u7531\u4e8e\u7f16\u8bd1\u5de5\u5177\u7684\u9650\u5236\u4f1a\u5bfc\u81f4\u7f16\u8bd1\u9519\u8bef\u3002<\/p>\n<h4>2.2 \u6784\u5efa &amp; \u5b89\u88c5 Livox-SDK2<\/h4>\n<p>\u6ce8\u610f&#xff1a;<\/p>\n<p>\u8bf7\u9075\u5faa Livox-SDK2\/README.md \u4e2d\u7684\u5b89\u88c5\u6307\u5357\u3002<\/p>\n<h4>2.3 \u6784\u5efa Livox ROS Driver 2&#xff1a;<\/h4>\n<h5>\u5bf9\u4e8e ROS1<\/h5>\n<p><span class=\"token builtin class-name\">cd<\/span> <span class=\"token operator\">&lt;<\/span>ros_ws<span class=\"token operator\">&gt;<\/span><br \/>\ncatkin_make <span class=\"token comment\"># \u6216\u8005\u60a8\u53ef\u4ee5\u4f7f\u7528 &#096;catkin build&#096;<\/span><\/p>\n<h5>\u5bf9\u4e8e ROS2<\/h5>\n<p><span class=\"token builtin class-name\">cd<\/span> <span class=\"token operator\">&lt;<\/span>ros_ws<span class=\"token operator\">&gt;<\/span><br \/>\ncolcon build &#8211;symlink-install<\/p>\n<h4>2.4 \u8fd0\u884c Livox ROS Driver 2&#xff1a;<\/h4>\n<h5>\u5bf9\u4e8e ROS&#xff1a;<\/h5>\n<p><span class=\"token builtin class-name\">cd<\/span> <span class=\"token operator\">&lt;<\/span>ros_ws<span class=\"token operator\">&gt;<\/span><br \/>\n<span class=\"token builtin class-name\">source<\/span> .\/devel\/setup.sh<br \/>\nroslaunch livox_ros_driver2 <span class=\"token punctuation\">[<\/span>\u542f\u52a8\u6587\u4ef6<span class=\"token punctuation\">]<\/span><\/p>\n<p>\u5176\u4e2d&#xff0c;<\/p>\n<ul>\n<li>livox_ros_driver2 : \u662f Livox ROS Driver 2 \u7684 ROS \u5305\u540d&#xff1b;<\/li>\n<li>[\u542f\u52a8\u6587\u4ef6] : \u662f\u60a8\u60f3\u8981\u4f7f\u7528\u7684 ROS \u542f\u52a8\u6587\u4ef6&#xff1b;launch_ROS1 \u6587\u4ef6\u5939\u4e2d\u5305\u542b\u51e0\u4e2a\u4f9b\u60a8\u53c2\u8003\u7684\u542f\u52a8\u793a\u4f8b&#xff1b;<\/li>\n<\/ul>\n<p>\u4e00\u4e2a\u7528\u4e8e HAP \u6fc0\u5149\u96f7\u8fbe\u7684 rviz \u542f\u52a8\u793a\u4f8b\u5982\u4e0b&#xff1a;<\/p>\n<p>roslaunch livox_ros_driver2 rviz_HAP.launch<\/p>\n<h5>\u5bf9\u4e8e ROS2&#xff1a;<\/h5>\n<p><span class=\"token builtin class-name\">cd<\/span> <span class=\"token operator\">&lt;<\/span>ros_ws<span class=\"token operator\">&gt;<\/span><br \/>\n<span class=\"token builtin class-name\">source<\/span> .\/install\/setup.sh<br \/>\nros2 launch livox_ros_driver2 <span class=\"token punctuation\">[<\/span>\u542f\u52a8\u6587\u4ef6<span class=\"token punctuation\">]<\/span><\/p>\n<p>\u5176\u4e2d&#xff0c;<\/p>\n<ul>\n<li>[\u542f\u52a8\u6587\u4ef6] : \u662f\u60a8\u60f3\u8981\u4f7f\u7528\u7684 ROS2 \u542f\u52a8\u6587\u4ef6&#xff1b;launch_ROS2 \u6587\u4ef6\u5939\u4e2d\u5305\u542b\u51e0\u4e2a\u4f9b\u60a8\u53c2\u8003\u7684\u542f\u52a8\u793a\u4f8b\u3002<\/li>\n<\/ul>\n<p>\u4e00\u4e2a\u7528\u4e8e HAP \u6fc0\u5149\u96f7\u8fbe\u7684 rviz \u542f\u52a8\u793a\u4f8b\u5982\u4e0b&#xff1a;<\/p>\n<p>ros2 launch livox_ros_driver2 rviz_HAP_launch.py<\/p>\n<h3>3. \u542f\u52a8\u6587\u4ef6\u53ca livox_ros_driver2 \u5185\u90e8\u53c2\u6570\u914d\u7f6e\u8bf4\u660e<\/h3>\n<h4>3.1 \u542f\u52a8\u6587\u4ef6\u914d\u7f6e\u8bf4\u660e<\/h4>\n<p>ROS \u7684\u542f\u52a8\u6587\u4ef6\u4f4d\u4e8e ws_livox\/src\/livox_ros_driver2\/launch_ROS1 \u76ee\u5f55&#xff0c;ROS2 \u7684\u542f\u52a8\u6587\u4ef6\u4f4d\u4e8e ws_livox\/src\/livox_ros_driver2\/launch_ROS2 \u76ee\u5f55\u3002\u4e0d\u540c\u7684\u542f\u52a8\u6587\u4ef6\u5177\u6709\u4e0d\u540c\u7684\u914d\u7f6e\u53c2\u6570\u503c&#xff0c;\u7528\u4e8e\u4e0d\u540c\u7684\u573a\u666f&#xff1a;<\/p>\n<table>\n<tr>\u542f\u52a8\u6587\u4ef6\u540d\u63cf\u8ff0<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">rviz_HAP.launch<\/td>\n<td align=\"left\">\u8fde\u63a5 HAP \u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907\u53d1\u5e03 pointcloud2 \u683c\u5f0f\u6570\u636e\u81ea\u52a8\u52a0\u8f7d rviz<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">msg_HAP.launch<\/td>\n<td align=\"left\">\u8fde\u63a5 HAP \u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907\u53d1\u5e03 Livox \u81ea\u5b9a\u4e49\u70b9\u4e91\u6570\u636e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">rviz_MID360.launch<\/td>\n<td align=\"left\">\u8fde\u63a5 MID360 \u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907\u53d1\u5e03 pointcloud2 \u683c\u5f0f\u6570\u636e\u81ea\u52a8\u52a0\u8f7d rviz<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">msg_MID360.launch<\/td>\n<td align=\"left\">\u8fde\u63a5 MID360 \u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907\u53d1\u5e03 Livox \u81ea\u5b9a\u4e49\u70b9\u4e91\u6570\u636e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">rviz_mixed.launch<\/td>\n<td align=\"left\">\u8fde\u63a5 HAP \u548c MID360 \u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907\u53d1\u5e03 pointcloud2 \u683c\u5f0f\u6570\u636e\u81ea\u52a8\u52a0\u8f7d rviz<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">msg_mixed.launch<\/td>\n<td align=\"left\">\u8fde\u63a5 HAP \u548c MID360 \u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907\u53d1\u5e03 Livox \u81ea\u5b9a\u4e49\u70b9\u4e91\u6570\u636e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>3.2 Livox ros driver 2 \u5185\u90e8\u4e3b\u8981\u53c2\u6570\u914d\u7f6e\u8bf4\u660e<\/h4>\n<p>Livox_ros_driver2 \u7684\u6240\u6709\u5185\u90e8\u53c2\u6570\u90fd\u5728\u542f\u52a8\u6587\u4ef6\u4e2d\u914d\u7f6e\u3002\u4ee5\u4e0b\u662f\u4e09\u4e2a\u5e38\u7528\u53c2\u6570\u7684\u8be6\u7ec6\u8bf4\u660e&#xff1a;<\/p>\n<table>\n<tr>\u53c2\u6570\u540d\u8be6\u7ec6\u63cf\u8ff0\u9ed8\u8ba4\u503c<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">publish_freq<\/td>\n<td align=\"left\">\u8bbe\u7f6e\u70b9\u4e91\u53d1\u5e03\u9891\u7387\u6d6e\u70b9\u6570\u636e\u7c7b\u578b&#xff0c;\u63a8\u8350\u503c 5.0, 10.0, 20.0, 50.0 \u7b49\u3002\u6700\u5927\u53d1\u5e03\u9891\u7387\u4e3a 100.0 Hz\u3002<\/td>\n<td align=\"left\">10.0<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">multi_topic<\/td>\n<td align=\"left\">\u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907\u662f\u5426\u62e5\u6709\u72ec\u7acb\u7684\u4e3b\u9898\u6765\u53d1\u5e03\u70b9\u4e91\u6570\u636e0 \u2013 \u6240\u6709\u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907\u4f7f\u7528\u540c\u4e00\u4e2a\u4e3b\u9898\u53d1\u5e03\u70b9\u4e91\u6570\u636e1 \u2013 \u6bcf\u4e2a\u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907\u4f7f\u7528\u81ea\u5df1\u7684\u4e3b\u9898\u53d1\u5e03\u70b9\u4e91\u6570\u636e<\/td>\n<td align=\"left\">0<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">xfer_format<\/td>\n<td align=\"left\">\u8bbe\u7f6e\u70b9\u4e91\u683c\u5f0f0 \u2013 Livox pointcloud2 (PointXYZRTLT) \u70b9\u4e91\u683c\u5f0f1 \u2013 Livox \u81ea\u5b9a\u4e49\u70b9\u4e91\u683c\u5f0f2 \u2013 PCL \u5e93\u4e2d\u7684\u6807\u51c6 pointcloud2 (pcl :: PointXYZI) \u70b9\u4e91\u683c\u5f0f&#xff08;\u4ec5\u9002\u7528\u4e8e ROS&#xff09;<\/td>\n<td align=\"left\">0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6ce8\u610f&#xff1a;<\/p>\n<p>\u672c\u8868\u4e2d\u672a\u63d0\u53ca\u7684\u5176\u4ed6\u53c2\u6570&#xff0c;\u9664\u975e\u5b8c\u5168\u7406\u89e3&#xff0c;\u5426\u5219\u4e0d\u5efa\u8bae\u4fee\u6539\u3002<\/p>\n<p>\u2002\u2002\u2002\u2002Livox_ros_driver2 \u70b9\u4e91\u6570\u636e\u8be6\u7ec6\u63cf\u8ff0&#xff1a;<\/p>\n<li>Livox pointcloud2 (PointXYZRTLT) \u70b9\u4e91\u683c\u5f0f&#xff0c;\u5982\u4e0b\u6240\u793a&#xff1a;<\/li>\n<p>float32 x               # X \u8f74&#xff0c;\u5355\u4f4d<span class=\"token operator\">:<\/span> m<br \/>\nfloat32 y               # Y \u8f74&#xff0c;\u5355\u4f4d<span class=\"token operator\">:<\/span> m<br \/>\nfloat32 z               # Z \u8f74&#xff0c;\u5355\u4f4d<span class=\"token operator\">:<\/span> m<br \/>\nfloat32 intensity       # \u53cd\u5c04\u7387\u503c&#xff0c;\u8303\u56f4 <span class=\"token number\">0.0<\/span><span class=\"token operator\">~<\/span><span class=\"token number\">255.0<\/span><br \/>\nuint8   tag             # livox \u6807\u7b7e<br \/>\nuint8   line            # \u6fc0\u5149\u5668\u5728\u96f7\u8fbe\u4e2d\u7684\u7f16\u53f7<br \/>\nfloat64 timestamp       # \u70b9\u7684\u65f6\u95f4\u6233<\/p>\n<p>\u6ce8\u610f&#xff1a;<\/p>\n<p>\u5e27\u4e2d\u7684\u70b9\u6570\u53ef\u80fd\u4e0d\u540c&#xff0c;\u4f46\u6bcf\u4e2a\u70b9\u90fd\u63d0\u4f9b\u65f6\u95f4\u6233\u3002<\/p>\n<li>Livox \u81ea\u5b9a\u4e49\u6570\u636e\u5305\u683c\u5f0f&#xff0c;\u5982\u4e0b\u6240\u793a&#xff1a;<\/li>\n<p>std_msgs<span class=\"token operator\">\/<\/span>Header header     # ROS \u6807\u51c6\u6d88\u606f\u5934<br \/>\nuint64          timebase   # \u7b2c\u4e00\u4e2a\u70b9\u7684\u65f6\u95f4\u57fa\u51c6<br \/>\nuint32          point_num  # \u70b9\u4e91\u603b\u6570<br \/>\nuint8           lidar_id   # \u6fc0\u5149\u96f7\u8fbe\u8bbe\u5907 ID \u53f7<br \/>\nuint8<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span>        rsvd       # \u4fdd\u7559\u5b57\u6bb5<br \/>\nCustomPoint<span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span>   points     # \u70b9\u4e91\u6570\u636e<\/p>\n<p>\u2002\u2002\u2002\u2002\u4e0a\u8ff0\u81ea\u5b9a\u4e49\u6570\u636e\u5305\u4e2d\u7684\u81ea\u5b9a\u4e49\u70b9\u4e91 (CustomPoint) \u683c\u5f0f&#xff1a;<\/p>\n<p>uint32  offset_time     # \u76f8\u5bf9\u4e8e\u57fa\u51c6\u65f6\u95f4\u7684\u504f\u79fb\u65f6\u95f4 <span class=\"token punctuation\">(<\/span>\u5355\u4f4d<span class=\"token operator\">:<\/span> ns<span class=\"token punctuation\">)<\/span><br \/>\nfloat32 x               # X \u8f74&#xff0c;\u5355\u4f4d<span class=\"token operator\">:<\/span> m<br \/>\nfloat32 y               # Y \u8f74&#xff0c;\u5355\u4f4d<span class=\"token operator\">:<\/span> m<br \/>\nfloat32 z               # Z \u8f74&#xff0c;\u5355\u4f4d<span class=\"token operator\">:<\/span> m<br \/>\nuint8   reflectivity    # \u53cd\u5c04\u7387&#xff0c;\u8303\u56f4 <span class=\"token number\">0<\/span><span class=\"token operator\">~<\/span><span class=\"token number\">255<\/span><br \/>\nuint8   tag             # livox \u6807\u7b7e<br \/>\nuint8   line            # \u6fc0\u5149\u5668\u5728\u96f7\u8fbe\u4e2d\u7684\u7f16\u53f7<\/p>\n<li>PCL \u5e93\u4e2d\u7684\u6807\u51c6 pointcloud2 (pcl :: PointXYZI) \u683c\u5f0f&#xff08;\u4ec5 ROS \u53ef\u4ee5\u53d1\u5e03&#xff09;&#xff1a;<\/li>\n<p>\u2002\u2002\u2002\u2002\u8bf7\u53c2\u8003 PCL \u5e93\u7684 point_types.hpp \u6587\u4ef6\u4e2d\u7684 pcl :: PointXYZI \u6570\u636e\u7ed3\u6784\u3002<\/p>\n<h3>4. \u6fc0\u5149\u96f7\u8fbe\u914d\u7f6e<\/h3>\n<p>\u6fc0\u5149\u96f7\u8fbe\u7684\u914d\u7f6e&#xff08;\u5982 IP\u3001\u7aef\u53e3\u3001\u6570\u636e\u7c7b\u578b\u7b49&#xff09;\u53ef\u4ee5\u901a\u8fc7 JSON \u683c\u5f0f\u7684\u914d\u7f6e\u6587\u4ef6\u8fdb\u884c\u8bbe\u7f6e\u3002\u5355\u4e2a HAP\u3001Mid360 \u548c\u6df7\u5408\u6fc0\u5149\u96f7\u8fbe\u7684\u914d\u7f6e\u6587\u4ef6\u4f4d\u4e8e config \u6587\u4ef6\u5939\u4e2d\u3002\u542f\u52a8\u6587\u4ef6\u4e2d\u7684 user_config_path \u53c2\u6570\u6307\u793a\u8be5 JSON \u6587\u4ef6\u7684\u8def\u5f84\u3002<\/p>\n<li>\u4ee5\u4e0b\u662f HAP \u6fc0\u5149\u96f7\u8fbe\u7684\u914d\u7f6e\u793a\u4f8b&#xff08;\u4f4d\u4e8e config\/HAP_config.json&#xff09;&#xff1a;<\/li>\n<p><span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token string-property property\">&#034;lidar_summary_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_type&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">8<\/span>  # \u534f\u8bae\u7c7b\u578b\u7d22\u5f15&#xff0c;\u8bf7\u52ff\u4fee\u6539\u6b64\u503c<br \/>\n  <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n  <span class=\"token string-property property\">&#034;HAP&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token string-property property\">&#034;device_type&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;HAP&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_ipaddr&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_net_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56000<\/span><span class=\"token punctuation\">,<\/span>  # \u547d\u4ee4\u7aef\u53e3<br \/>\n      <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">57000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">58000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">59000<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string-property property\">&#034;host_net_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token string-property property\">&#034;cmd_data_ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span> <span class=\"token punctuation\">(<\/span>\u53ef\u4fee\u6539<span class=\"token punctuation\">)<\/span><br \/>\n      <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;push_msg_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;point_data_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">57000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;imu_data_ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">58000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;log_data_ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">59000<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n  <span class=\"token string-property property\">&#034;lidar_configs&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">[<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token string-property property\">&#034;ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.100&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u60a8\u8981\u914d\u7f6e\u7684\u6fc0\u5149\u96f7\u8fbe <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;pcl_data_type&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;pattern_mode&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;blind_spot_set&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;extrinsic_parameter&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token string-property property\">&#034;roll&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;pitch&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;yaw&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;x&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;y&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;z&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><br \/>\n      <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token punctuation\">]<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u4e0a JSON \u6587\u4ef6\u4e2d\u7684\u53c2\u6570\u5c5e\u6027\u63cf\u8ff0\u5982\u4e0b\u8868&#xff1a;<\/p>\n<p>\u6fc0\u5149\u96f7\u8fbe\u914d\u7f6e\u53c2\u6570<\/p>\n<table>\n<tr>\u53c2\u6570\u540d\u7c7b\u578b\u63cf\u8ff0\u9ed8\u8ba4\u503c<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">ip<\/td>\n<td align=\"left\">String<\/td>\n<td align=\"left\">\u60a8\u8981\u914d\u7f6e\u7684\u6fc0\u5149\u96f7\u8fbe IP<\/td>\n<td align=\"left\">192.168.1.100<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">pcl_data_type<\/td>\n<td align=\"left\">Int<\/td>\n<td align=\"left\">\u9009\u62e9\u53d1\u9001\u7684\u70b9\u4e91\u6570\u636e\u5206\u8fa8\u73871 \u2013 \u7b1b\u5361\u5c14\u5750\u6807\u6570\u636e (32 \u4f4d)2 \u2013 \u7b1b\u5361\u5c14\u5750\u6807\u6570\u636e (16 \u4f4d)3 \u2013 \u7403\u5750\u6807\u6570\u636e<\/td>\n<td align=\"left\">1<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">pattern_mode<\/td>\n<td align=\"left\">Int<\/td>\n<td align=\"left\">\u7a7a\u95f4\u626b\u63cf\u6a21\u5f0f0 \u2013 \u975e\u91cd\u590d\u626b\u63cf\u6a21\u5f0f1 \u2013 \u91cd\u590d\u626b\u63cf\u6a21\u5f0f2 \u2013 \u91cd\u590d\u626b\u63cf\u6a21\u5f0f (\u4f4e\u626b\u63cf\u901f\u7387)<\/td>\n<td align=\"left\">0<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">blind_spot_set(\u4ec5\u9002\u7528\u4e8e HAP \u6fc0\u5149\u96f7\u8fbe)<\/td>\n<td align=\"left\">Int<\/td>\n<td align=\"left\">\u8bbe\u7f6e\u76f2\u533a\u8303\u56f4\u4ece 50 \u5398\u7c73\u5230 200 \u5398\u7c73<\/td>\n<td align=\"left\">50<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">extrinsic_parameter<\/td>\n<td align=\"left\">Object<\/td>\n<td align=\"left\">\u8bbe\u7f6e\u5916\u53c2\u201croll\u201d\u3001\u201cpitch\u201d\u3001\u201cyaw\u201d \u7684\u6570\u636e\u7c7b\u578b\u4e3a float\u201cx\u201d\u3001\u201cy\u201d\u3001\u201cz\u201d \u7684\u6570\u636e\u7c7b\u578b\u4e3a int<\/td>\n<td align=\"left\"><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6709\u5173 HAP \u914d\u7f6e\u7684\u66f4\u591a\u4fe1\u606f&#xff0c;\u8bf7\u53c2\u8003&#xff1a; HAP \u914d\u7f6e\u6587\u4ef6\u63cf\u8ff0<\/p>\n<li>\u5f53\u8fde\u63a5\u591a\u4e2a\u6fc0\u5149\u96f7\u8fbe\u65f6&#xff0c;\u5c06\u4e0d\u540c\u6fc0\u5149\u96f7\u8fbe\u5bf9\u5e94\u7684\u5bf9\u8c61\u6dfb\u52a0\u5230 lidar_configs \u6570\u7ec4\u4e2d\u3002\u6df7\u5408\u6fc0\u5149\u96f7\u8fbe\u914d\u7f6e\u6587\u4ef6\u5185\u5bb9\u793a\u4f8b\u5982\u4e0b&#xff1a;<\/li>\n<p><span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token string-property property\">&#034;lidar_summary_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_type&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">8<\/span>  # \u534f\u8bae\u7c7b\u578b\u7d22\u5f15&#xff0c;\u8bf7\u52ff\u4fee\u6539\u6b64\u503c<br \/>\n  <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n  <span class=\"token string-property property\">&#034;HAP&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_net_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span>  # <span class=\"token constant\">HAP<\/span> \u7aef\u53e3&#xff0c;\u8bf7\u52ff\u4fee\u6539\u8fd9\u4e9b\u503c<br \/>\n      <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56000<\/span><span class=\"token punctuation\">,<\/span>  # <span class=\"token constant\">HAP<\/span> \u547d\u4ee4\u7aef\u53e3<br \/>\n      <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">57000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">58000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">59000<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string-property property\">&#034;host_net_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token string-property property\">&#034;cmd_data_ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;push_msg_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;point_data_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">57000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;imu_data_ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">58000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;log_data_ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">59000<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n  <span class=\"token string-property property\">&#034;MID360&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_net_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span>  # Mid360 \u7aef\u53e3&#xff0c;\u8bf7\u52ff\u4fee\u6539\u8fd9\u4e9b\u503c<br \/>\n      <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56100<\/span><span class=\"token punctuation\">,<\/span>  # Mid360 \u547d\u4ee4\u7aef\u53e3<br \/>\n      <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56200<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56300<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56400<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56500<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string-property property\">&#034;host_net_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token string-property property\">&#034;cmd_data_ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56101<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;push_msg_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56201<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;point_data_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56301<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;imu_data_ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56401<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;log_data_ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56501<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n  <span class=\"token string-property property\">&#034;lidar_configs&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">[<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token string-property property\">&#034;ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.100&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u60a8\u8981\u914d\u7f6e\u7684 <span class=\"token constant\">HAP<\/span> <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;pcl_data_type&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;pattern_mode&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;blind_spot_set&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">50<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;extrinsic_parameter&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token string-property property\">&#034;roll&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;pitch&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;yaw&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;x&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;y&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;z&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><br \/>\n      <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token string-property property\">&#034;ip&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.12&#034;<\/span><span class=\"token punctuation\">,<\/span>  # \u60a8\u8981\u914d\u7f6e\u7684 Mid360 <span class=\"token constant\">IP<\/span><br \/>\n      <span class=\"token string-property property\">&#034;pcl_data_type&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;pattern_mode&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n      <span class=\"token string-property property\">&#034;extrinsic_parameter&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token string-property property\">&#034;roll&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;pitch&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;yaw&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;x&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;y&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;z&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><br \/>\n      <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token punctuation\">]<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<li>\u5f53\u4e3b\u673a\u4e0a\u7684\u591a\u4e2a\u7f51\u5361\u8fde\u63a5\u591a\u4e2a\u6fc0\u5149\u96f7\u8fbe\u65f6&#xff0c;\u60a8\u9700\u8981\u5c06\u4e0d\u540c\u6fc0\u5149\u96f7\u8fbe\u5bf9\u5e94\u7684\u5bf9\u8c61\u6dfb\u52a0\u5230 lidar_configs \u6570\u7ec4\u4e2d\u3002\u5206\u522b\u8fd0\u884c\u4e0d\u540c\u7684\u542f\u52a8\u6587\u4ef6&#xff0c;\u4ee5\u4e0b\u662f\u6df7\u5408\u6fc0\u5149\u96f7\u8fbe\u914d\u7f6e\u6587\u4ef6\u5185\u5bb9\u793a\u4f8b&#xff1a;<\/li>\n<p>MID360_config1:<\/p>\n<p><span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token string-property property\">&#034;lidar_summary_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_type&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">8<\/span>  # \u534f\u8bae\u7c7b\u578b\u7d22\u5f15&#xff0c;\u8bf7\u52ff\u4fee\u6539\u6b64\u503c<br \/>\n  <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string-property property\">&#034;MID360&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token string-property property\">&#034;lidar_net_info&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56100<\/span><span class=\"token punctuation\">,<\/span> # \u547d\u4ee4\u7aef\u53e3<br \/>\n            <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56200<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56300<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56400<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56500<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;host_net_info&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">[<\/span><br \/>\n            <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token string-property property\">&#034;lidar_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;192.168.1.100&#034;<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> # \u6fc0\u5149\u96f7\u8fbe <span class=\"token constant\">IP<\/span><br \/>\n                <span class=\"token string-property property\">&#034;host_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.5&#034;<\/span><span class=\"token punctuation\">,<\/span> # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n                <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56101<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56201<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56301<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56401<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56501<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">]<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_configs&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">[<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token string-property property\">&#034;ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.1.100&#034;<\/span><span class=\"token punctuation\">,<\/span> # \u60a8\u8981\u914d\u7f6e\u7684\u6fc0\u5149\u96f7\u8fbe <span class=\"token constant\">IP<\/span><br \/>\n            <span class=\"token string-property property\">&#034;pcl_data_type&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;pattern_mode&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;extrinsic_parameter&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token string-property property\">&#034;roll&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;pitch&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;yaw&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;x&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;y&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;z&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">]<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>MID360_config2:<\/p>\n<p><span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token string-property property\">&#034;lidar_summary_info&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_type&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">8<\/span>  # \u534f\u8bae\u7c7b\u578b\u7d22\u5f15&#xff0c;\u8bf7\u52ff\u4fee\u6539\u6b64\u503c<br \/>\n  <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string-property property\">&#034;MID360&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token string-property property\">&#034;lidar_net_info&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56100<\/span><span class=\"token punctuation\">,<\/span> # \u547d\u4ee4\u7aef\u53e3<br \/>\n            <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56200<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56300<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56400<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56500<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token string-property property\">&#034;host_net_info&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">[<\/span><br \/>\n            <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token string-property property\">&#034;lidar_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;192.168.2.100&#034;<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> # \u6fc0\u5149\u96f7\u8fbe <span class=\"token constant\">IP<\/span><br \/>\n                <span class=\"token string-property property\">&#034;host_ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.2.5&#034;<\/span><span class=\"token punctuation\">,<\/span> # \u4e3b\u673a <span class=\"token constant\">IP<\/span><br \/>\n                <span class=\"token string-property property\">&#034;cmd_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56101<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;push_msg_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56201<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;point_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56301<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;imu_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56401<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;log_data_port&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">56501<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">]<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token string-property property\">&#034;lidar_configs&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">[<\/span><br \/>\n        <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token string-property property\">&#034;ip&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;192.168.2.100&#034;<\/span><span class=\"token punctuation\">,<\/span> # \u60a8\u8981\u914d\u7f6e\u7684\u6fc0\u5149\u96f7\u8fbe <span class=\"token constant\">IP<\/span><br \/>\n            <span class=\"token string-property property\">&#034;pcl_data_type&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;pattern_mode&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token string-property property\">&#034;extrinsic_parameter&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token string-property property\">&#034;roll&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;pitch&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;yaw&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;x&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;y&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                <span class=\"token string-property property\">&#034;z&#034;<\/span><span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">]<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>Launch1 (ROS1):<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token comment\">&lt;!&#8211;\u7528\u6237\u4e3a ros \u914d\u7f6e\u7684\u53c2\u6570\u5f00\u59cb&#8211;&gt;<\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>lvx_file_path<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_test.lvx<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>bd_list<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>100000000000000<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>xfer_format<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>multi_topic<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>1<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>data_src<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>publish_freq<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>10.0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>output_type<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rviz_enable<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rosbag_enable<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>false<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>cmdline_arg<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg bd_list)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>msg_frame_id<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_frame<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>lidar_bag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>imu_bag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token comment\">&lt;!&#8211;\u7528\u6237\u4e3a ros \u914d\u7f6e\u7684\u53c2\u6570\u7ed3\u675f&#8211;&gt;<\/span><\/p>\n<p>    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>xfer_format<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg xfer_format)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>multi_topic<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg multi_topic)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>data_src<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg data_src)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>publish_freq<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>double<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg publish_freq)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>output_data_type<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg output_type)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>cmdline_str<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>string<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg bd_list)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>cmdline_file_path<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>string<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg lvx_file_path)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>user_config_path<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>string<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(find livox_ros_driver2)\/config\/MID360_config1.json<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span> <span class=\"token comment\">&lt;!&#8211; Mid360 \u914d\u7f6e\u6587\u4ef61 &#8211;&gt;<\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>frame_id<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>string<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg msg_frame_id)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>enable_lidar_bag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>bool<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg lidar_bag)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>enable_imu_bag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>bool<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg imu_bag)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><\/p>\n<p>    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_lidar_publisher1<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_ros_driver2<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n          <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_ros_driver2_node<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">required<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n          <span class=\"token attr-name\">output<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>screen<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">args<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg cmdline_arg)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><\/p>\n<p>    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>group<\/span> <span class=\"token attr-name\">if<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg rviz_enable)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_rviz<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rviz<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rviz<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">respawn<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n                <span class=\"token attr-name\">args<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>-d $(find livox_ros_driver2)\/config\/display_point_cloud_ROS1.rviz<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>group<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>group<\/span> <span class=\"token attr-name\">if<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg rosbag_enable)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rosbag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>record<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>record<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">output<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>screen<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n                <span class=\"token attr-name\">args<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>-a<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>group<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>Launch2 (ROS1):<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token comment\">&lt;!&#8211;\u7528\u6237\u4e3a ros \u914d\u7f6e\u7684\u53c2\u6570\u5f00\u59cb&#8211;&gt;<\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>lvx_file_path<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_test.lvx<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>bd_list<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>100000000000000<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>xfer_format<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>multi_topic<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>1<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>data_src<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>publish_freq<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>10.0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>output_type<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rviz_enable<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rosbag_enable<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>false<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>cmdline_arg<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg bd_list)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>msg_frame_id<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_frame<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>lidar_bag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>imu_bag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token comment\">&lt;!&#8211;\u7528\u6237\u4e3a ros \u914d\u7f6e\u7684\u53c2\u6570\u7ed3\u675f&#8211;&gt;<\/span><\/p>\n<p>    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>xfer_format<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg xfer_format)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>multi_topic<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg multi_topic)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>data_src<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg data_src)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>publish_freq<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>double<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg publish_freq)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>output_data_type<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg output_type)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>cmdline_str<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>string<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg bd_list)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>cmdline_file_path<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>string<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg lvx_file_path)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>user_config_path<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>string<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(find livox_ros_driver2)\/config\/MID360_config2.json<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span> <span class=\"token comment\">&lt;!&#8211; Mid360 \u914d\u7f6e\u6587\u4ef62 &#8211;&gt;<\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>frame_id<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>string<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg msg_frame_id)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>enable_lidar_bag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>bool<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg lidar_bag)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>enable_imu_bag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>bool<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg imu_bag)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><\/p>\n<p>    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_lidar_publisher2<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_ros_driver2<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n          <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_ros_driver2_node<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">required<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n          <span class=\"token attr-name\">output<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>screen<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">args<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg cmdline_arg)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><\/p>\n<p>    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>group<\/span> <span class=\"token attr-name\">if<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg rviz_enable)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>livox_rviz<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rviz<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rviz<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">respawn<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n                <span class=\"token attr-name\">args<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>-d $(find livox_ros_driver2)\/config\/display_point_cloud_ROS1.rviz<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>group<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>group<\/span> <span class=\"token attr-name\">if<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg rosbag_enable)<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>rosbag<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>record<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>record<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">output<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>screen<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n                <span class=\"token attr-name\">args<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>-a<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>group<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<h3>5. \u652f\u6301\u7684\u6fc0\u5149\u96f7\u8fbe\u5217\u8868<\/h3>\n<ul>\n<li>HAP<\/li>\n<li>Mid360<\/li>\n<li>(\u66f4\u591a\u7c7b\u578b\u5373\u5c06\u63a8\u51fa\u2026)<\/li>\n<\/ul>\n<h3>6. \u5e38\u89c1\u95ee\u9898\u89e3\u7b54 (FAQ)<\/h3>\n<h4>6.1 \u4f7f\u7528 rviz_HAP.launch \u542f\u52a8&#xff0c;\u4f46\u5728\u7f51\u683c\u4e0a\u6ca1\u6709\u663e\u793a\u70b9\u4e91&#xff1f;<\/h4>\n<p>\u8bf7\u68c0\u67e5 RViz \u201cDisplay\u201d \u9762\u677f\u4e2d\u7684 \u201cGlobal Options &#8211; Fixed Frame\u201d \u5b57\u6bb5\u3002\u5c06\u8be5\u5b57\u6bb5\u503c\u8bbe\u7f6e\u4e3a livox_frame \u5e76\u786e\u4fdd\u5728\u9762\u677f\u4e2d\u52fe\u9009\u4e86 PointCloud2 \u9009\u9879\u3002<\/p>\n<h4>6.2 \u4f7f\u7528\u547d\u4ee4 ros2 launch livox_ros_driver2 rviz_HAP_launch.py \u542f\u52a8&#xff0c;\u4f46\u65e0\u6cd5\u6253\u5f00\u5171\u4eab\u5bf9\u8c61\u6587\u4ef6 \u201cliblivox_sdk_shared.so\u201d&#xff1f;<\/h4>\n<p>\u8bf7\u5c06 \/usr\/local\/lib \u6dfb\u52a0\u5230\u73af\u5883\u53d8\u91cf LD_LIBRARY_PATH \u4e2d\u3002<\/p>\n<ul>\n<li>\n<p>\u5982\u679c\u53ea\u60f3\u6dfb\u52a0\u5230\u5f53\u524d\u7ec8\u7aef&#xff1a;<\/p>\n<p> <span class=\"token builtin class-name\">export<\/span> <span class=\"token assign-left variable\">LD_LIBRARY_PATH<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token variable\">${LD_LIBRARY_PATH}<\/span>:\/usr\/local\/lib\n <\/li>\n<li>\n<p>\u5982\u679c\u60f3\u6dfb\u52a0\u5230\u5f53\u524d\u7528\u6237&#xff08;\u6c38\u4e45\u751f\u6548&#xff09;&#xff1a;<\/p>\n<p> <span class=\"token function\">vim<\/span> ~\/.bashrc<br \/>\n<span class=\"token comment\"># \u5728\u6587\u4ef6\u672b\u5c3e\u6dfb\u52a0\u4e0b\u9762\u8fd9\u884c<\/span><br \/>\n<span class=\"token builtin class-name\">export<\/span> <span class=\"token assign-left variable\">LD_LIBRARY_PATH<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token variable\">${LD_LIBRARY_PATH}<\/span>:\/usr\/local\/lib<br \/>\n<span class=\"token comment\"># 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pointcloud2\/\u81ea\u5b9a\u4e49\u683c\u5f0f\/PCL\u6807\u51c6\u683c\u5f0f\uff09\uff0c\u4f46\u5f3a\u8c03\u4ec5\u4f5c\u4e3a\u8c03\u8bd5\u5de5\u5177\u4f7f\u7528\uff0c\u4e0d\u5efa\u8bae\u7528\u4e8e\u91cf\u4ea7\u73af\u5883\u3002\u6700\u540e\u6587\u6863\u8fd8\u63d0\u5230\u53ef\u901a\u8fc7JSON\u6587\u4ef6\u914d\u7f6e<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[6009,6010,1966,6011],"topic":[],"class_list":["post-57553","post","type-post","status-publish","format-standard","hentry","category-server","tag-fast-lio","tag-livox","tag-ros","tag-6011"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Livox ROS Driver 2 README.md\u4e2d\u6587\u7ffb\u8bd1\u53ca\u89e3\u6790 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" 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