Livox-MID360 Setup

A comprehensive guide for setting up and configuring the Livox MID-360 LiDAR with ROS

Livox ROS Driver 2 is the 2nd-generation driver package used to connect LiDAR products produced by Livox, applicable for ROS (noetic recommended) and ROS2 (foxy or humble recommended).

Note :

As a debugging tool, Livox ROS Driver is not recommended for mass production but limited to test scenarios. You should optimize the code based on the original source to meet your various needs.

0. Version and Release History

0.1 Current Version

v2.6.0

0.2 Release History

Release History

0.3 Livox Setup

0.3.1 Livox Capability

Parameter	Value
Model	MID-360
Laser Wavelength	905 nm
Laser Safety [1]	Class 1 (IEC 60825-1:2014) (safe for eyes)
Detection Range (@ 100 klx)	40 m @ 10% reflectivity 70 m @ 80% reflectivity
Close Proximity Blind Zone [2]	0.1 m
FOV	Horizontal: 360°, Vertical: -7°~52°
Distance Random Error (1σ) [3]	≤ 2 cm (@ 10 m) [4] ≤ 3 cm (@ 0.2 m) [5]
Angular Random Error (1σ)	≤ 0.15°
Point Rate	200,000 points/s
Frame Rate	10 Hz (typical)
Data Port	100 BASE-TX Ethernet
Data Synchronization	IEEE 1588-2008 (PTP v2), GPS
Anti-Interference Function	Available
False Alarm Ratio (@100 klx) [6]	< 0.01%
IMU	Built-in IMU: ICM40609
Operating Temperature [7]	-20° to 55° C (-4° to 131° F)
Storage Temperature	-40° to 70° C (-40° to 158° F)
IP Rating	IP67
Power [8]	6.5 W (ambient temperature 25° C (77° F))
Power Supply Voltage Range	9~27 V DC
Dimensions	65 (width) × 65 (depth) × 60 (height) mm
Weight	Approx. 265 g

0.3.2 Livox Hardware

0.3.3 Livox Wiring

Plug in Ethernet Cable and supply Livox-MID360 with 9-27V and atleast 1.2A

1. Install dependencies

Before running livox_ros_driver, ROS and Livox-SDK must be installed.

1.1 ROS installation

For ROS installation, please refer to the ROS installation guide : ROS installation guide

1.2 Livox-SDK Installation

Download or clone Livox-SDK from Github to local computer.

Install Basic Dependencies

sudo apt update
sudo apt install -y cmake build-essential nmap ethtool net-tools

Build SDK2

cd ~/Livox-MID360/Livox-SDK2
mkdir build && cd build
cmake .. && make -j$(nproc)
sudo make install

# Verify installation
ls -la /usr/local/lib/liblivox_lidar_sdk*
ls -la /usr/local/include/livox_lidar*

2. Network Configuration

Find Ethernet Interface Name

iwconfig # Find enp89s0, eth0, enp3s0, etc.

Setup Automatic Network Wired Connection

sudo nmcli connection add type ethernet ifname <enp89s0, eth0, enp3s0> con-name livox-lidar ip4 192.168.1.50/24 ipv4.method manual

sudo nmcli connection modify livox-lidar connection.autoconnect yes

sudo nmcli connection modify livox-lidar connection.autoconnect-priority 10

sudo nmcli connection up livox-lidar

nmcli connection show livox-lidar | grep -E "(autoconnect|ipv4.addresses)"

ping -c 10 192.168.1.169 # Ping IP to verify Ethernet Connection

2. Get and build livox_ros_driver

Download or clone Livox-SDK from Github to local computer;

git clone https://github.com/Whan000/Livox-MID360

cd ~/Livox-MID360/ws_livox

./src/livox_ros_driver2/build.sh humble

source install/setup.bash 

# ^ Or use 
#"echo "source ~/ws_livox/install/setup.bash" >> ~/.bashrc"
# to add automatic source to bashrc files.

Note : Be sure to use the above command to clone the code to the local, otherwise it will compile error due to the file path problem.

Use the following command to build and source livox_ros_driver:

./src/livox_ros_driver2/build.sh humble

source install/setup.bash

3. Launch file and livox_ros_driver internal parameter configuration instructions

3.1 Launch file configuration instructions

Launch files of ROS are in the "ws_livox/src/livox_ros_driver2/launch_ROS1" directory and launch files of ROS2 are in the "ws_livox/src/livox_ros_driver2/launch_ROS2" directory. Different launch files have different configuration parameter values and are used in different scenarios:

launch file name	Description
rviz_HAP.launch	Connect to HAP LiDAR device Publish pointcloud2 format data Autoload rviz
msg_HAP.launch	Connect to HAP LiDAR device Publish livox customized pointcloud data
rviz_MID360.launch	Connect to MID360 LiDAR device Publish pointcloud2 format data Autoload rviz
msg_MID360.launch	Connect to MID360 LiDAR device Publish livox customized pointcloud data
rviz_mixed.launch	Connect to HAP and MID360 LiDAR device Publish pointcloud2 format data Autoload rviz
msg_mixed.launch	Connect to HAP and MID360 LiDAR device Publish livox customized pointcloud data

3.2 Livox ros driver 2 internal main parameter configuration instructions

All internal parameters of Livox_ros_driver2 are in the launch file. Below are detailed descriptions of the three commonly used parameters :

Parameter	Detailed description	Default
publish_freq	Set the frequency of point cloud publish Floating-point data type, recommended values 5.0, 10.0, 20.0, 50.0, etc. The maximum publish frequency is 100.0 Hz.	10.0
multi_topic	If the LiDAR device has an independent topic to publish pointcloud data 0 -- All LiDAR devices use the same topic to publish pointcloud data 1 -- Each LiDAR device has its own topic to publish point cloud data	0
xfer_format	Set pointcloud format 0 -- Livox pointcloud2(PointXYZRTLT) pointcloud format 1 -- Livox customized pointcloud format 2 -- Standard pointcloud2 (pcl :: PointXYZI) pointcloud format in the PCL library (just for ROS)	0

Note :

Other parameters not mentioned in this table are not suggested to be changed unless fully understood.

3.2 Livox_ros_driver internal main parameter configuration instructions

All internal parameters of Livox_ros_driver are in the launch file. Below are detailed descriptions of the three commonly used parameters :

Parameter	Detailed description	Default
publish_freq	Set the frequency of point cloud publish Floating-point data type, recommended values 5.0, 10.0, 20.0, 50.0, etc.	10.0
multi_topic	If the LiDAR device has an independent topic to publish pointcloud data 0 -- All LiDAR devices use the same topic to publish pointcloud data 1 -- Each LiDAR device has its own topic to publish point cloud data	0
xfer_format	Set pointcloud format 0 -- Livox pointcloud2(PointXYZRTL) pointcloud format 1 -- Livox customized pointcloud format 2 -- Standard pointcloud2 (pcl :: PointXYZI) pointcloud format in the PCL library	0

Livox pointcloud2 (PointXYZRTL) point cloud format, as follows :

float32 x               # X axis, unit:m
float32 y               # Y axis, unit:m
float32 z               # Z axis, unit:m
float32 intensity         # the value is reflectivity, 0.0~255.0
uint8 tag               # livox tag
uint8 line              # laser number in lidar

Livox customized data package format, as follows :

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

Customized Point Cloud (CustomPoint) format in the above customized data package :

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

The standard pointcloud2 (pcl :: PointXYZI) format in the PCL library :

Please refer to the pcl :: PointXYZI data structure in the point_types.hpp file of the PCL library.

4. LiDAR config

LiDAR Configurations (such as ip, port, data type... etc.) can be set via a json-style config file. Config files for single HAP, Mid360 and mixed-LiDARs are in the "config" folder. The parameter naming 'user_config_path' in launch files indicates such json file path.

Follow is a configuration example for HAP LiDAR (located in config/HAP_config.json):

{
  "lidar_summary_info" : {
    "lidar_type": 8  # protocol type index, please don't revise this value
  },
  "HAP": {
    "device_type" : "HAP",
    "lidar_ipaddr": "",
    "lidar_net_info" : {
      "cmd_data_port": 56000,  # command port
      "push_msg_port": 0,
      "point_data_port": 57000,
      "imu_data_port": 58000,
      "log_data_port": 59000
    },
    "host_net_info" : {
      "cmd_data_ip" : "192.168.1.5",  # host ip (it can be revised)
      "cmd_data_port": 56000,
      "push_msg_ip": "",
      "push_msg_port": 0,
      "point_data_ip": "192.168.1.5",  # host ip
      "point_data_port": 57000,
      "imu_data_ip" : "192.168.1.5",  # host ip
      "imu_data_port": 58000,
      "log_data_ip" : "",
      "log_data_port": 59000
    }
  },
  "lidar_configs" : [
    {
      "ip" : "192.168.1.100",  # ip of the LiDAR you want to config
      "pcl_data_type" : 1,
      "pattern_mode" : 0,
      "blind_spot_set" : 50,
      "extrinsic_parameter" : {
        "roll": 0.0,
        "pitch": 0.0,
        "yaw": 0.0,
        "x": 0,
        "y": 0,
        "z": 0
      }
    }
  ]
}

The parameter attributes in the above json file are described in the following table :

LiDAR configuration parameter

Parameter	Type	Description	Default
ip	String	Ip of the LiDAR you want to config	192.168.1.100
pcl_data_type	Int	Choose the resolution of the point cloud data to send 1 -- Cartesian coordinate data (32 bits) 2 -- Cartesian coordinate data (16 bits) 3 --Spherical coordinate data	1
pattern_mode	Int	Space scan pattern 0 -- non-repeating scanning pattern mode 1 -- repeating scanning pattern mode 2 -- repeating scanning pattern mode (low scanning rate)	0
blind_spot_set (Only for HAP LiDAR)	Int	Set blind spot Range from 50 cm to 200 cm	50
extrinsic_parameter		Set extrinsic parameter The data types of "roll" "picth" "yaw" are float The data types of "x" "y" "z" are int

For more infomation about the HAP config, please refer to: HAP Config File Description

When connecting multiple LiDARs, add objects corresponding to different LiDARs to the "lidar_configs" array. Examples of mixed-LiDARs config file contents are as follows :

{
  "lidar_summary_info" : {
    "lidar_type": 8  # protocol type index, please don't revise this value
  },
  "HAP": {
    "lidar_net_info" : {  # HAP ports, please don't revise these values
      "cmd_data_port": 56000,  # HAP command port
      "push_msg_port": 0,
      "point_data_port": 57000,
      "imu_data_port": 58000,
      "log_data_port": 59000
    },
    "host_net_info" : {
      "cmd_data_ip" : "192.168.1.5",  # host ip
      "cmd_data_port": 56000,
      "push_msg_ip": "",
      "push_msg_port": 0,
      "point_data_ip": "192.168.1.5",  # host ip
      "point_data_port": 57000,
      "imu_data_ip" : "192.168.1.5",  # host ip
      "imu_data_port": 58000,
      "log_data_ip" : "",
      "log_data_port": 59000
    }
  },
  "MID360": {
    "lidar_net_info" : {  # Mid360 ports, please don't revise these values
      "cmd_data_port": 56100,  # Mid360 command port
      "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 ip
      "cmd_data_port": 56101,
      "push_msg_ip": "192.168.1.5",  # host ip
      "push_msg_port": 56201,
      "point_data_ip": "192.168.1.5",  # host ip
      "point_data_port": 56301,
      "imu_data_ip" : "192.168.1.5",  # host ip
      "imu_data_port": 56401,
      "log_data_ip" : "",
      "log_data_port": 56501
    }
  },
  "lidar_configs" : [
    {
      "ip" : "192.168.1.100",  # ip of the HAP you want to config
      "pcl_data_type" : 1,
      "pattern_mode" : 0,
      "blind_spot_set" : 50,
      "extrinsic_parameter" : {
        "roll": 0.0,
        "pitch": 0.0,
        "yaw": 0.0,
        "x": 0,
        "y": 0,
        "z": 0
      }
    },
    {
      "ip" : "192.168.1.12",  # ip of the Mid360 you want to config
      "pcl_data_type" : 1,
      "pattern_mode" : 0,
      "extrinsic_parameter" : {
        "roll": 0.0,
        "pitch": 0.0,
        "yaw": 0.0,
        "x": 0,
        "y": 0,
        "z": 0
      }
    }
  ]
}

when multiple nics on the host connect to multiple LiDARs, you need to add objects corresponding to different LiDARs to the lidar_configs array. Run different luanch files separately, and the following is an example of mixing lidar configuration file contents:

MID360_config1:

{
  "lidar_summary_info" : {
    "lidar_type": 8  # protocol type index，please don't revise this value
  },
    "MID360": {
        "lidar_net_info": {
            "cmd_data_port": 56100, # command port
            "push_msg_port": 56200, 
            "point_data_port": 56300,
            "imu_data_port": 56400,
            "log_data_port": 56500
        },
        "host_net_info": [
            {
                "lidar_ip": ["192.168.1.100"], # Lidar ip
                "host_ip": "192.168.1.5", # host ip
                "cmd_data_port": 56101,
                "push_msg_port": 56201,
                "point_data_port": 56301,
                "imu_data_port": 56401,
                "log_data_port": 56501
            }
        ]
    },
    "lidar_configs": [
        {
            "ip": "192.168.1.100", # ip of the LiDAR you want to config
            "pcl_data_type": 1,
            "pattern_mode": 0,
            "extrinsic_parameter": {
                "roll": 0.0,
                "pitch": 0.0,
                "yaw": 0.0,
                "x": 0,
                "y": 0,
                "z": 0
            }
        }
    ]
}

MID360_config2:

{
  "lidar_summary_info" : {
    "lidar_type": 8  # protocol type index，please don't revise this value
  },
    "MID360": {
        "lidar_net_info": {
            "cmd_data_port": 56100, # command port
            "push_msg_port": 56200, 
            "point_data_port": 56300,
            "imu_data_port": 56400,
            "log_data_port": 56500
        },
        "host_net_info": [
            {
                "lidar_ip": ["192.168.2.100"], # Lidar ip
                "host_ip": "192.168.2.5", # host ip
                "cmd_data_port": 56101,
                "push_msg_port": 56201,
                "point_data_port": 56301,
                "imu_data_port": 56401,
                "log_data_port": 56501
            }
        ]
    },
    "lidar_configs": [
        {
            "ip": "192.168.2.100", # ip of the LiDAR you want to config
            "pcl_data_type": 1,
            "pattern_mode": 0,
            "extrinsic_parameter": {
                "roll": 0.0,
                "pitch": 0.0,
                "yaw": 0.0,
                "x": 0,
                "y": 0,
                "z": 0
            }
        }
    ]
}

Launch1:

<launch>
    <!--user configure parameters for ros start-->
    <arg name="lvx_file_path" default="livox_test.lvx"/>
    <arg name="bd_list" default="100000000000000"/>
    <arg name="xfer_format" default="0"/>
    <arg name="multi_topic" default="1"/>
    <arg name="data_src" default="0"/>
    <arg name="publish_freq" default="10.0"/>
    <arg name="output_type" default="0"/>
    <arg name="rviz_enable" default="true"/>
    <arg name="rosbag_enable" default="false"/>
    <arg name="cmdline_arg" default="$(arg bd_list)"/>
    <arg name="msg_frame_id" default="livox_frame"/>
    <arg name="lidar_bag" default="true"/>
    <arg name="imu_bag" default="true"/>
    <!--user configure parameters for ros end--> 

    <param name="xfer_format" value="$(arg xfer_format)"/>
    <param name="multi_topic" value="$(arg multi_topic)"/>
    <param name="data_src" value="$(arg data_src)"/>
    <param name="publish_freq" type="double" value="$(arg publish_freq)"/>
    <param name="output_data_type" value="$(arg output_type)"/>
    <param name="cmdline_str" type="string" value="$(arg bd_list)"/>
    <param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
    <param name="user_config_path" type="string" value="$(find livox_ros_driver2)/config/MID360_config1.json"/> # Mid360 MID360_config1 name
    <param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
    <param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
    <param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>

    <node name="livox_lidar_publisher1" pkg="livox_ros_driver2"
          type="livox_ros_driver2_node" required="true"
          output="screen" args="$(arg cmdline_arg)"/>

    <group if="$(arg rviz_enable)">
        <node name="livox_rviz" pkg="rviz" type="rviz" respawn="true"
                args="-d $(find livox_ros_driver2)/config/display_point_cloud_ROS1.rviz"/>
    </group>

    <group if="$(arg rosbag_enable)">
        <node pkg="rosbag" type="record" name="record" output="screen"
                args="-a"/>
    </group>

</launch>

Launch2:

<launch>
    <!--user configure parameters for ros start-->
    <arg name="lvx_file_path" default="livox_test.lvx"/>
    <arg name="bd_list" default="100000000000000"/>
    <arg name="xfer_format" default="0"/>
    <arg name="multi_topic" default="1"/>
    <arg name="data_src" default="0"/>
    <arg name="publish_freq" default="10.0"/>
    <arg name="output_type" default="0"/>
    <arg name="rviz_enable" default="true"/>
    <arg name="rosbag_enable" default="false"/>
    <arg name="cmdline_arg" default="$(arg bd_list)"/>
    <arg name="msg_frame_id" default="livox_frame"/>
    <arg name="lidar_bag" default="true"/>
    <arg name="imu_bag" default="true"/>
    <!--user configure parameters for ros end--> 

    <param name="xfer_format" value="$(arg xfer_format)"/>
    <param name="multi_topic" value="$(arg multi_topic)"/>
    <param name="data_src" value="$(arg data_src)"/>
    <param name="publish_freq" type="double" value="$(arg publish_freq)"/>
    <param name="output_data_type" value="$(arg output_type)"/>
    <param name="cmdline_str" type="string" value="$(arg bd_list)"/>
    <param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
    <param name="user_config_path" type="string" value="$(find livox_ros_driver2)/config/MID360_config2.json"/> # Mid360 MID360_config2 name
    <param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
    <param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
    <param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>

    <node name="livox_lidar_publisher2" pkg="livox_ros_driver2"
          type="livox_ros_driver2_node" required="true"
          output="screen" args="$(arg cmdline_arg)"/>

    <group if="$(arg rviz_enable)">
        <node name="livox_rviz" pkg="rviz" type="rviz" respawn="true"
                args="-d $(find livox_ros_driver2)/config/display_point_cloud_ROS1.rviz"/>
    </group>

    <group if="$(arg rosbag_enable)">
        <node pkg="rosbag" type="record" name="record" output="screen"
                args="-a"/>
    </group>

</launch>

5. Supported LiDAR list

HAP
Mid360
(more types are comming soon...)

6. FAQ

6.1 launch with "livox_lidar_rviz_HAP.launch" but no point cloud display on the grid?

Please check the "Global Options - Fixed Frame" field in the RViz "Display" pannel. Set the field value to "livox_frame" and check the "PointCloud2" option in the pannel.

6.2 launch with command "ros2 launch livox_lidar_rviz_HAP_launch.py" but cannot open shared object file "liblivox_sdk_shared.so" ?

Please add '/usr/local/lib' to the env LD_LIBRARY_PATH.

If you want to add to current terminal:

export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib

If you want to add to current user:

vim ~/.bashrc
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
source ~/.bashrc

Name		Name	Last commit message	Last commit date
Latest commit History 6 Commits
Livox-SDK2		Livox-SDK2
images		images
ws_livox		ws_livox
LICENSE		LICENSE
README.md		README.md

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Livox-MID360 Setup

0. Version and Release History

0.1 Current Version

0.2 Release History

0.3 Livox Setup

0.3.1 Livox Capability

0.3.2 Livox Hardware

0.3.3 Livox Wiring

1. Install dependencies

1.1 ROS installation

1.2 Livox-SDK Installation

2. Network Configuration

2. Get and build livox_ros_driver

3. Launch file and livox_ros_driver internal parameter configuration instructions

3.1 Launch file configuration instructions

3.2 Livox ros driver 2 internal main parameter configuration instructions

3.2 Livox_ros_driver internal main parameter configuration instructions

4. LiDAR config

5. Supported LiDAR list

6. FAQ

6.1 launch with "livox_lidar_rviz_HAP.launch" but no point cloud display on the grid?

6.2 launch with command "ros2 launch livox_lidar_rviz_HAP_launch.py" but cannot open shared object file "liblivox_sdk_shared.so" ?

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Repository files navigation

Livox-MID360 Setup

0. Version and Release History

0.1 Current Version

0.2 Release History

0.3 Livox Setup

0.3.1 Livox Capability

0.3.2 Livox Hardware

0.3.3 Livox Wiring

1. Install dependencies

1.1 ROS installation

1.2 Livox-SDK Installation

2. Network Configuration

2. Get and build livox_ros_driver

3. Launch file and livox_ros_driver internal parameter configuration instructions

3.1 Launch file configuration instructions

3.2 Livox ros driver 2 internal main parameter configuration instructions

3.2 Livox_ros_driver internal main parameter configuration instructions

4. LiDAR config

5. Supported LiDAR list

6. FAQ

6.1 launch with "livox_lidar_rviz_HAP.launch" but no point cloud display on the grid?

6.2 launch with command "ros2 launch livox_lidar_rviz_HAP_launch.py" but cannot open shared object file "liblivox_sdk_shared.so" ?

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