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How to use MID360 LiDAR on reComputer

Introduction​

MID360 LIDAR sensors provide high-precision 3D point cloud data for various applications. This guide focuses on setting up the MID360 on a reComputer J30/40 device running ROS Noetic.

This wiki provides a step-by-step guide to install and set up MID360 LiDAR on reComputer J30/40 Jetson using ROS, and visualize point cloud data.

Prerequisites​

Getting Started​

Install SDK2​

  • Step 1: Install Livox-SDK2

    git clone https://github.com/Livox-SDK/Livox-SDK2.git
    cd ./Livox-SDK2/
    mkdir build
    cd build
    cmake .. && make -j8
    sudo make install

  • Step 2: Install livox_ros_driver2:

    git clone https://github.com/Livox-SDK/livox_ros_driver2.git ~/ws_livox/src/livox_ros_driver2
    cd ~/ws_livox/src/livox_ros_driver2
    source /opt/ros/noetic/setup.sh
    ./build.sh ROS1

Configure reComputer IP Address​

The default IP address for the MID360 LiDAR is 192.168.1.2xx, the target host machine IP address is 192.168.1.50. After connecting the hardware, you need to manually configure the IP address of the reComputer.

  • Step 1: Open Ethernet Settings.

  • Step 2: Select Manual Settings in the IPv4 field and enter the IP address 192.168.1.50 and mask 255.255.255.0.

  • Step 3: Configuration Parameters. Next, modify the ~/src/livox_ros_driver2/config files in the livox_ros_driver2. The blue underlined parts should be consistent with the static IP. The red underlined parts should be set as 192.168.1.1xx, where the last two digits correspond to the last two digits of the MID360 broadcast code. For example, if your broadcast code is 47MDL1C0010081 (14 characters), then the IP address should be set as 192.168.1.181.

    • livox_ros_driver2/config/MID360_config.json
    • livox_ros_driver2/launch_ROS1/rviz_MID360.launch
    • livox_ros_driver2/launch_ROS1/msg_MID360.launch

Running Lidar Code​

Start Lidar:

cd ~/ws_livox/
source devel/setup.bash
roslaunch livox_ros_driver2 msg_MID360.launch

Open a new terminal:

cd ~/ws_livox/
source devel/setup.bash
roslaunch livox_ros_driver2 rviz_MID360.launch

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