How can i access Livox Horizon?

[Oh-JongJin]

Livox Horizon ip: 172.16.1.30
Host PC ip: 172.16.1.245

HORIZON_config.json

{
  "lidar_summary_info" : {
    "lidar_type": 1
  },
  "HORIZON": {
    "lidar_net_info" : {
      "cmd_data_port": 56100,
      "push_msg_port": 56200,
      "point_data_port": 56300,
      "imu_data_port": 56400,
      "log_data_port": 56500
    },
    "host_net_info" : {
      "cmd_data_ip" : "172.16.1.245",
      "cmd_data_port": 56101,
      "push_msg_ip": "172.16.1.245",
      "push_msg_port": 56201,
      "point_data_ip": "172.16.1.245",
      "point_data_port": 56301,
      "imu_data_ip" : "172.16.1.245",
      "imu_data_port": 56401,
      "log_data_ip" : "172.16.1.245",
      "log_data_port": 56501
    }
  },
  "lidar_configs" : [
    {
      "ip" : "172.16.1.30",
      "pcl_data_type" : 1,
      "pattern_mode" : 0,
      "extrinsic_parameter" : {
        "roll": 0.0,
        "pitch": 0.0,
        "yaw": 0.0,
        "x": 0,
        "y": 0,
        "z": 0
      }
    }
  ]
}

msg_HORIZON_launch.py

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
import launch

################### user configure parameters for ros2 start ###################
xfer_format   = 1    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
multi_topic   = 0    # 0-All LiDARs share the same topic, 1-One LiDAR one topic
data_src      = 0    # 0-lidar, others-Invalid data src
publish_freq  = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc.
output_type   = 0
frame_id      = 'livox_frame'
lvx_file_path = '/home/livox/livox_test.lvx'
cmdline_bd_code = '<bd_code>'

cur_path = os.path.split(os.path.realpath(__file__))[0] + '/'
cur_config_path = cur_path + '../config'
user_config_path = os.path.join(cur_config_path, 'HORIZON_config.json')
################### user configure parameters for ros2 end #####################

livox_ros2_params = [
    {"xfer_format": xfer_format},
    {"multi_topic": multi_topic},
    {"data_src": data_src},
    {"publish_freq": publish_freq},
    {"output_data_type": output_type},
    {"frame_id": frame_id},
    {"lvx_file_path": lvx_file_path},
    {"user_config_path": user_config_path},
    {"cmdline_input_bd_code": cmdline_bd_code}
]


def generate_launch_description():
    livox_driver = Node(
        package='livox_ros_driver2',
        executable='livox_ros_driver2_node',
        name='livox_lidar_publisher',
        output='screen',
        parameters=livox_ros2_params
        )

    return LaunchDescription([
        livox_driver,
    ])

result:

$ ros2 launch livox_ros_driver2 msg_HORIZON_launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2024-04-25-17-22-54-400569-ansan-ppl-vueron-141435
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [livox_ros_driver2_node-1]: process started with pid [141437]
[livox_ros_driver2_node-1] [INFO] [1714033374.457089543] [livox_lidar_publisher]: Livox Ros Driver2 Version: 1.0.0
[livox_ros_driver2_node-1] [INFO] [1714033374.457433843] [livox_lidar_publisher]: Data Source is raw lidar.
[livox_ros_driver2_node-1] [INFO] [1714033374.457447643] [livox_lidar_publisher]: Config file : /home/user/Workspace/ws_livox2/install/livox_ros_driver2/share/livox_ros_driver2/launch_ROS2/../config/HORIZON_config.json
[livox_ros_driver2_node-1] LdsLidar *GetInstance
[livox_ros_driver2_node-1] config lidar type: 1
[livox_ros_driver2_node-1] [INFO] [1714033374.458125043] [livox_lidar_publisher]: Init lds lidar success!

$ ros2 node list
/livox_lidar_publisher

$ ros2 topic list
/parameter_events
/rosout

After the message "Init lds lidar success!" is displayed, no further messages appear, and although the node is confirmed in the node list, nothing can be found in the topic list.
I need your help.

[siliblue]

I hope my reply can help u

1. As far as I can remember, Horizon doesn't need a complex config file
2. If you are using ROS2, the static library of SDK1 needs to be changed to a dynamic library
   Workaround: Delete or rename liblivox_sdk_static.a under /usr/local/lib (for example, liblivox_sdk_static.a.ak) and then run colcon build
   The ros2 driver will automatically compile the dynamic library and pass the compilation.
3. Your host needs to be in the same static network segment as the LiDAR