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update the livox data collect part

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xw 2021-07-06 04:19:52 -04:00
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@ -96,6 +96,7 @@ Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installat
roslaunch fast_lio mapping_avia.launch roslaunch fast_lio mapping_avia.launch
roslaunch livox_ros_driver livox_lidar_msg.launch roslaunch livox_ros_driver livox_lidar_msg.launch
``` ```
- For livox serials, FAST-LIO only support the data collected by the ``` livox_lidar_msg.launch ``` since only its ``` livox_ros_driver/CustomMsg ``` data structure produces the timestamp of each LiDAR point which is very important for the motion undistortion. ``` livox_lidar.launch ``` can not produce it right now.
- If you want to change the frame rate, please modify the **publish_freq** parameter in the [livox_lidar_msg.launch](https://github.com/Livox-SDK/livox_ros_driver/blob/master/livox_ros_driver/launch/livox_lidar_msg.launch) of [Livox-ros-driver](https://github.com/Livox-SDK/livox_ros_driver) before make the livox_ros_driver pakage. - If you want to change the frame rate, please modify the **publish_freq** parameter in the [livox_lidar_msg.launch](https://github.com/Livox-SDK/livox_ros_driver/blob/master/livox_ros_driver/launch/livox_lidar_msg.launch) of [Livox-ros-driver](https://github.com/Livox-SDK/livox_ros_driver) before make the livox_ros_driver pakage.
### 3.2 For Livox serials with external IMU ### 3.2 For Livox serials with external IMU