ROS2 Migration

.gitignore

@@ -1,4 +1,3 @@
 .vscode
 build
-package.xml
 __pycache__

CMakeLists.txt

@@ -222,8 +222,10 @@ else(ROS_EDITION STREQUAL "ROS2")
   # further dependencies manually.
   # find_package(<dependency> REQUIRED)
   find_package(ament_cmake_auto REQUIRED)
+  find_package(livox_sdk2 REQUIRED)
   ament_auto_find_build_dependencies()
   find_package(PCL REQUIRED)
+  find_package(pcl_conversions REQUIRED)
   find_package(std_msgs REQUIRED)
   find_package(builtin_interfaces REQUIRED)
   find_package(rosidl_default_generators REQUIRED)
@@ -246,7 +248,7 @@ else(ROS_EDITION STREQUAL "ROS2")
   )
 
   ## make sure the livox_lidar_sdk_shared library is installed
-  find_library(LIVOX_LIDAR_SDK_LIBRARY liblivox_lidar_sdk_shared.so /usr/local/lib REQUIRED)
+  find_library(LIVOX_LIDAR_SDK_LIBRARY liblivox_lidar_sdk_shared.so REQUIRED)
 
   ##
   find_path(LIVOX_LIDAR_SDK_INCLUDE_DIR
@@ -282,15 +284,11 @@ else(ROS_EDITION STREQUAL "ROS2")
   target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
 
   # get include directories of custom msg headers
-  if(HUMBLE_ROS STREQUAL "humble")
-    rosidl_get_typesupport_target(cpp_typesupport_target
-    ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
-    target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
-  else()
-    set(LIVOX_INTERFACE_TARGET "${LIVOX_INTERFACES}__rosidl_typesupport_cpp")
-    add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
-    get_target_property(LIVOX_INTERFACES_INCLUDE_DIRECTORIES ${LIVOX_INTERFACE_TARGET} INTERFACE_INCLUDE_DIRECTORIES)
-  endif()
+
+  rosidl_get_typesupport_target(cpp_typesupport_target
+  ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
+  target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
+
 
   # include file direcotry
   target_include_directories(${PROJECT_NAME} PUBLIC
@@ -330,7 +328,7 @@ else(ROS_EDITION STREQUAL "ROS2")
 
   ament_auto_package(INSTALL_TO_SHARE
     config
-    launch_ROS2
+    launch
   )
 
 endif()

config/MID360_config.json

@@ -1,34 +1,34 @@
 {
-  "lidar_summary_info" : {
+  "lidar_summary_info": {
     "lidar_type": 8
   },
   "MID360": {
-    "lidar_net_info" : {
+    "lidar_net_info": {
       "cmd_data_port": 56100,
       "push_msg_port": 56200,
       "point_data_port": 56300,
       "imu_data_port": 56400,
       "log_data_port": 56500
     },
-    "host_net_info" : {
-      "cmd_data_ip" : "192.168.1.5",
+    "host_net_info": {
+      "cmd_data_ip": "192.168.1.50",
       "cmd_data_port": 56101,
-      "push_msg_ip": "192.168.1.5",
+      "push_msg_ip": "192.168.1.50",
       "push_msg_port": 56201,
-      "point_data_ip": "192.168.1.5",
+      "point_data_ip": "192.168.1.50",
       "point_data_port": 56301,
-      "imu_data_ip" : "192.168.1.5",
+      "imu_data_ip": "192.168.1.50",
       "imu_data_port": 56401,
-      "log_data_ip" : "",
+      "log_data_ip": "",
       "log_data_port": 56501
     }
   },
-  "lidar_configs" : [
+  "lidar_configs": [
     {
-      "ip" : "192.168.1.12",
-      "pcl_data_type" : 1,
-      "pattern_mode" : 0,
-      "extrinsic_parameter" : {
+      "ip": "192.168.1.175",
+      "pcl_data_type": 1,
+      "pattern_mode": 0,
+      "extrinsic_parameter": {
         "roll": 0.0,
         "pitch": 0.0,
         "yaw": 0.0,
@@ -38,5 +38,4 @@
       }
     }
   ]
-}
-
+}

launch/livox_mid360_driver.launch.py

@@ -0,0 +1,47 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import launch
+
+################### user configure parameters for ros2 start ###################
+xfer_format = 0  # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
+multi_topic = 0  # 0-All LiDARs share the same topic, 1-One LiDAR one topic
+data_src = 0  # 0-lidar, others-Invalid data src
+publish_freq = 10.0  # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc.
+output_type = 0
+frame_id = "livox_frame"
+lvx_file_path = "/home/livox/livox_test.lvx"
+cmdline_bd_code = "livox0000000001"
+
+config_path = os.path.join(get_package_share_directory("livox_ros_driver2"), "config")
+user_config_path = os.path.join(config_path, "MID360_config.json")
+################### user configure parameters for ros2 end #####################
+
+livox_ros2_params = [
+    {"xfer_format": xfer_format},
+    {"multi_topic": multi_topic},
+    {"data_src": data_src},
+    {"publish_freq": publish_freq},
+    {"output_data_type": output_type},
+    {"frame_id": frame_id},
+    {"lvx_file_path": lvx_file_path},
+    {"user_config_path": user_config_path},
+    {"cmdline_input_bd_code": cmdline_bd_code},
+]
+
+
+def generate_launch_description():
+    livox_driver = Node(
+        package="livox_ros_driver2",
+        executable="livox_ros_driver2_node",
+        name="livox_lidar_publisher",
+        output="screen",
+        parameters=livox_ros2_params,
+    )
+
+    return LaunchDescription(
+        [
+            livox_driver,
+        ]
+    )

launch/msg_HAP_launch.py

@@ -0,0 +1,57 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import launch
+
+################### user configure parameters for ros2 start ###################
+xfer_format = 1  # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
+multi_topic = 0  # 0-All LiDARs share the same topic, 1-One LiDAR one topic
+data_src = 0  # 0-lidar, others-Invalid data src
+publish_freq = 10.0  # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc.
+output_type = 0
+frame_id = "livox_frame"
+lvx_file_path = "/home/livox/livox_test.lvx"
+cmdline_bd_code = "livox0000000001"
+
+cur_path = os.path.split(os.path.realpath(__file__))[0] + "/"
+cur_config_path = cur_path + "../config"
+rviz_config_path = os.path.join(cur_config_path, "livox_lidar.rviz")
+user_config_path = os.path.join(cur_config_path, "HAP_config.json")
+################### user configure parameters for ros2 end #####################
+
+livox_ros2_params = [
+    {"xfer_format": xfer_format},
+    {"multi_topic": multi_topic},
+    {"data_src": data_src},
+    {"publish_freq": publish_freq},
+    {"output_data_type": output_type},
+    {"frame_id": frame_id},
+    {"lvx_file_path": lvx_file_path},
+    {"user_config_path": user_config_path},
+    {"cmdline_input_bd_code": cmdline_bd_code},
+]
+
+
+def generate_launch_description():
+    livox_driver = Node(
+        package="livox_ros_driver2",
+        executable="livox_ros_driver2_node",
+        name="livox_lidar_publisher",
+        output="screen",
+        parameters=livox_ros2_params,
+    )
+
+    return LaunchDescription(
+        [
+            livox_driver,
+            # launch.actions.RegisterEventHandler(
+            #     event_handler=launch.event_handlers.OnProcessExit(
+            #         target_action=livox_rviz,
+            #         on_exit=[
+            #             launch.actions.EmitEvent(event=launch.events.Shutdown()),
+            #         ]
+            #     )
+            # )
+        ]
+    )

launch/msg_MID360_launch.py

@@ -0,0 +1,56 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import launch
+
+################### user configure parameters for ros2 start ###################
+xfer_format = 1  # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
+multi_topic = 0  # 0-All LiDARs share the same topic, 1-One LiDAR one topic
+data_src = 0  # 0-lidar, others-Invalid data src
+publish_freq = 10.0  # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc.
+output_type = 0
+frame_id = "livox_frame"
+lvx_file_path = "/home/livox/livox_test.lvx"
+cmdline_bd_code = "livox0000000001"
+
+cur_path = os.path.split(os.path.realpath(__file__))[0] + "/"
+cur_config_path = cur_path + "../config"
+user_config_path = os.path.join(cur_config_path, "MID360_config.json")
+################### user configure parameters for ros2 end #####################
+
+livox_ros2_params = [
+    {"xfer_format": xfer_format},
+    {"multi_topic": multi_topic},
+    {"data_src": data_src},
+    {"publish_freq": publish_freq},
+    {"output_data_type": output_type},
+    {"frame_id": frame_id},
+    {"lvx_file_path": lvx_file_path},
+    {"user_config_path": user_config_path},
+    {"cmdline_input_bd_code": cmdline_bd_code},
+]
+
+
+def generate_launch_description():
+    livox_driver = Node(
+        package="livox_ros_driver2",
+        executable="livox_ros_driver2_node",
+        name="livox_lidar_publisher",
+        output="screen",
+        parameters=livox_ros2_params,
+    )
+
+    return LaunchDescription(
+        [
+            livox_driver,
+            # launch.actions.RegisterEventHandler(
+            #     event_handler=launch.event_handlers.OnProcessExit(
+            #         target_action=livox_rviz,
+            #         on_exit=[
+            #             launch.actions.EmitEvent(event=launch.events.Shutdown()),
+            #         ]
+            #     )
+            # )
+        ]
+    )

launch/rviz_HAP_launch.py

@@ -0,0 +1,65 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import launch
+
+################### user configure parameters for ros2 start ###################
+xfer_format = 0  # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
+multi_topic = 0  # 0-All LiDARs share the same topic, 1-One LiDAR one topic
+data_src = 0  # 0-lidar, others-Invalid data src
+publish_freq = 10.0  # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc.
+output_type = 0
+frame_id = "livox_frame"
+lvx_file_path = "/home/livox/livox_test.lvx"
+cmdline_bd_code = "livox0000000001"
+
+cur_path = os.path.split(os.path.realpath(__file__))[0] + "/"
+cur_config_path = cur_path + "../config"
+rviz_config_path = os.path.join(cur_config_path, "display_point_cloud_ROS2.rviz")
+user_config_path = os.path.join(cur_config_path, "HAP_config.json")
+################### user configure parameters for ros2 end #####################
+
+livox_ros2_params = [
+    {"xfer_format": xfer_format},
+    {"multi_topic": multi_topic},
+    {"data_src": data_src},
+    {"publish_freq": publish_freq},
+    {"output_data_type": output_type},
+    {"frame_id": frame_id},
+    {"lvx_file_path": lvx_file_path},
+    {"user_config_path": user_config_path},
+    {"cmdline_input_bd_code": cmdline_bd_code},
+]
+
+
+def generate_launch_description():
+    livox_driver = Node(
+        package="livox_ros_driver2",
+        executable="livox_ros_driver2_node",
+        name="livox_lidar_publisher",
+        output="screen",
+        parameters=livox_ros2_params,
+    )
+
+    livox_rviz = Node(
+        package="rviz2",
+        executable="rviz2",
+        output="screen",
+        arguments=["--display-config", rviz_config_path],
+    )
+
+    return LaunchDescription(
+        [
+            livox_driver,
+            livox_rviz,
+            # launch.actions.RegisterEventHandler(
+            #     event_handler=launch.event_handlers.OnProcessExit(
+            #         target_action=livox_rviz,
+            #         on_exit=[
+            #             launch.actions.EmitEvent(event=launch.events.Shutdown()),
+            #         ]
+            #     )
+            # )
+        ]
+    )