Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
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+# Livox publish pointcloud msg format.
+
+std_msgs/Header header    # ROS standard message header
+uint64 timebase           # The time of first point
+uint32 point_num          # Total number of pointclouds
+uint8  lidar_id           # Lidar device id number
+uint8[3]  rsvd            # Reserved use
+CustomPoint[] points      # Pointcloud data
+
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+# Livox costom pointcloud format.
+
+uint32 offset_time      # offset time relative to the base time
+float32 x               # X axis, unit:m
+float32 y               # Y axis, unit:m
+float32 z               # Z axis, unit:m
+uint8 reflectivity      # reflectivity, 0~255
+uint8 tag               # livox tag
+uint8 line              # laser number in lidar
+