官方git安装Livox-SDK2和ROS Driver 2。
修改驱动的雷达ip
打开ROS Driver2工程，修改livox_ros_driver2/config/MID360_config.json文件内的参数中ip部分，cmd_data_ip改为192.168.1.50，下面的ip改为雷达的ip，192.168.1.1** 最后两位为雷达S/N码最后两位数字。
{"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": 15.0, #改变了雷达的姿态"yaw": 0.0,"x": 0,"y": 0,"z": 0}}]
}
连接雷达后输入下面指令查看ip配置是否成功
source ./devel/setup.bash
roslaunch livox_ros_driver2 msg_MID360.launch
如果运行如下命令后Rviz中没有显示点云数据，则有可能是雷达配置问题。
source devel/setup.sh
roslaunch livox_ros_driver2 rviz_MID360.launch
利用mid360运行fast-lio2
在livox_ros_driver2的上级目录src下保存fast-lio的工程
fast-lio2源码
问题一：编译报错，fast-lio源码使用的驱动是livox_ros_driver，而mid360使用的是livox_ros_driver2，二者数据结构有所不同。
解决编译问题：为使用mid360作为硬件输入修改源代码中的所有livox_ros_driver为livox_ros_driver2（包括.cpp .h 以及 package.xml），编译成功。
roslaunch livox_ros_driver2 msg_MID360.launch
在另一个终端中执行
roslaunch fast_lio mapping_mid360.launch
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