Rust Livox HAP Driver

Author: YinMo19

A Rust implementation of the Livox HAP LiDAR driver for ROS 2.

Features

• UDP Communication: Handles Livox HAP's UDP protocol for point cloud data
• Point Cloud Publishing: Publishes sensor_msgs/PointCloud2 messages
• Parameter Configuration: Supports runtime configuration via ROS parameters
• Multi-threaded: Uses Tokio for async I/O operations
• Protocol Support: Implements Livox's PCD1 data format

Prerequisites

• ROS 2 Humble or newer
• Rust toolchain (stable)
• rust-ros2 packages
• Livox HAP LiDAR device

Installation

1. Clone this repository into your ROS workspace and build:

   # Install Rust, e.g. as described in https://rustup.rs/
   # Install ROS 2 as described in https://docs.ros.org/en/humble/Installation.html
   # Assuming you installed the minimal version of ROS 2, you need these additional packages:
   sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
   # Install these plugins for cargo and colcon:
   pip install git+https://github.com/colcon/colcon-cargo.git
   pip install git+https://github.com/colcon/colcon-ros-cargo.git
   
   git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
   vcs import src < src/ros2_rust/ros2_rust_humble.repos
   . /opt/ros/humble/setup.sh
   
   # if example is not needed, you can remove it to speed up compilation
   rm -r src/ros2_rust/examples
   git clone https://github.com/YinMo19/Livox-HAP-Driver.git src/livox_hap_driver
   
   colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --symlink-install
   
   # or open all optimizations
   colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --cargo-args --release

2. Source the workspace:

   source install/setup.bash

Configuration

Create a configuration YAML file (e.g., config/livox_minimal.yaml) with your device settings:

dest_ip: "192.168.1.101" # Livox HAP device IP
udp_port: 57000 # Local UDP port
batch_dot_num: 9600 # Points per batch
lidar_line: 6 # Number of LiDAR lines
timeout_ms: 1000 # UDP receive timeout

Usage

Launch File

Launch file ( write a launch.py) to read the config yaml and launch it. Ref to cli below.

Command Line

source install/setup.(z/ba/)sh
ros2 run livox_hap_driver livox_hap_driver_node --ros-args -p dest_ip:="192.168.1.102" -p local_udp_port:=57000

Parameters

Parameter	Type	Default	Description
dest_ip	string	"192.168.1.101"	Livox HAP device IP address
dest_udp_port	int	57000	dest UDP port for communication
local_ip	string	"192.168.1.50"	Local ip IP address
local_udp_port	int	57000	Local UDP port for communication
batch_dot_num	int	9600	Number of points per batch
lidar_line	int	6	Number of LiDAR lines (1-128)
timeout_ms	int	1000	UDP receive timeout in milliseconds
frame_id	string	"lidar_hap_frame"	TF frame ID for point cloud

namespace can be set in it. But the command line param is

ros2 run xxx xxx --ros-args <xxxx....zzzz> -r __ns:="/xxxx/yyyyy"

Topics

Published

• ~/pc_raw (sensor_msgs/PointCloud2) - Raw point cloud data

Protocol Details

The driver implements:

• Livox control protocol (for device initialization)
• PCD1 data format (point cloud data)
• CRC32 validation for data integrity

Troubleshooting

1. No data received:

   • Verify Livox HAP is powered on and connected
   • Check IP address configuration
   • Ensure firewall allows UDP traffic on specified ports

2. CRC errors:

   • Check for network interference
   • Verify Livox firmware version compatibility

3. ROS connection issues:

   • Ensure ROS 2 environment is properly sourced
   • Check topic namespaces match

License

Apache License 2.0

Author

YinMo19 - me@yinmo19.top