Livox-Free-Space

Livox-Free-Space is a fast and effective free-space detection package using Livox LiDAR data. It based on traditional algorithm to segment 3D LiDAR data and generate free-space.

Demo

Free space is marked in red.

Dependencies

• ROS (tested with Melodic)
• Eigen 3.3.7
• PCL 1.8

Installation

cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_free_space
cd ..
catkin_make

Run with Bag File

• Open your bash and cd to the path of your bag, or you can use the demo bag in data/.

rosbag play your.bag

• Open another bash and cd to your workspace.

cd ~/your_workspace
source devel/setup.bash
roslaunch livox_free_space livox_free_space.launch

Run with your device:

• Run your LiDAR with livox_ros_driver

cd ~/catkin_ws
source devel/setup.bash
roslaunch livox_ros_driver livox_lidar.launch

• Change the topic name in src/FreeSpace_node.cpp from/points_raw to /livox/lidar. And then catkin make this package:

cd ~/your_workspace
catkin_make

• Run the launch file:

source devel/setup.bash
roslaunch livox_free_space livox_free_space.launch

Notes

• The required topic name of point cloud messages is /points_raw, and the type is sensor_msgs::PointCloud2
• The parameter height_offset in launch file is used to calibrate the ground height in input point cloud to near 0 in advance.

Support

You can get support from Livox with the following methods:

• Send email to [email protected] with a clear description of your problem and your setup
• Report issues on github