no IMU topic for Livox HAP

[PanterSoft]

Hello,

I have a problem Where my Lidar works perfectly I can see the pointcloud and also the IMU data in the LivoxViewer2

but I have no IMU topic inside of ROS. the Lidar Pointcloud is available in ROS

Does anyone else have this issue ?

my config is as follows

    <!--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="0"/>
    <arg name="data_src" default="0"/>
    <arg name="publish_freq" default="10.0"/>
    <arg name="output_type" default="0"/>
    <arg name="rviz_enable" default="false"/>
    <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/HAP_config.json"/>
    <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 rosbag_enable)">
    <node pkg="rosbag" type="record" name="record" output="screen"
                    args="-a"/>
</group>

HAP Config { "lidar_summary_info" : { "lidar_type": 8 }, "HAP": { "lidar_net_info" : { "cmd_data_port": 56000, "push_msg_port": 0, "point_data_port": 57000, "imu_data_port": 58000, "log_data_port": 59000 }, "host_net_info" : { "cmd_data_ip" : "192.168.178.1", "cmd_data_port": 56000, "push_msg_ip": "", "push_msg_port": 0, "point_data_ip": "192.168.178.1", "point_data_port": 57000, "imu_data_ip" : "192.168.178.1", "imu_data_port": 58000, "log_data_ip" : "", "log_data_port": 59000 } }, "lidar_configs" : [ { "ip" : "192.168.178.2", "pcl_data_type" : 1, "pattern_mode" : 0, "extrinsic_parameter" : { "roll": 0.0, "pitch": 0.0, "yaw": 0.0, "x": 0, "y": 0, "z": 0 } } ] }

Can anyone help me with this.

[lingtong-seu]

How to solve it

[PanterSoft]

@lingtong-seu I Silver the Problem by downgrading the Firmware on the LiDAR