livox mid rosbag support

[swjtuyang]

the mid-70 1000 rosbag can be used in livox_mapping and livox_loam.

but in Fast_LIO, after rosbag play XXX.bag, a md5sum error will be show, (the bag will play anyway), and no pointclouds in rviz.

[XW-HKU]

For now, fast lio only support bags record by livox_lidar_msg.launch.

[chenxianbo]

the mid-70 1000 rosbag can be used in livox_mapping and livox_loam.

but in Fast_LIO, after rosbag play XXX.bag, a md5sum error will be show, (the bag will play anyway), and no pointclouds in rviz.
@XW-HKU
HI,:
does fast-lio support Mid-70?
you konw the best paramter for Mid-70?

n.param("lidar_type", lidar_type, 0);
n.param("blind", blind, 0.5);
n.param("inf_bound", inf_bound, 10);
n.param("N_SCANS", N_SCANS, 1);
n.param("group_size", group_size, 8);
n.param("disA", disA, 0.01);
n.param("disB", disB, 0.1);
n.param("p2l_ratio", p2l_ratio, 400);
n.param("limit_maxmid", limit_maxmid, 9);
n.param("limit_midmin", limit_midmin, 16);
n.param("limit_maxmin", limit_maxmin, 3.24);
n.param("jump_up_limit", jump_up_limit, 175.0);
n.param("jump_down_limit", jump_down_limit, 5.0);
n.param("cos160", cos160, 160.0);
n.param("edgea", edgea, 3);
n.param("edgeb", edgeb, 0.05);
n.param("smallp_intersect", smallp_intersect, 170.0);
n.param("smallp_ratio", smallp_ratio, 1.2);
n.param("point_filter_num", point_filter_num, 4);

[XW-HKU]

the mid-70 1000 rosbag can be used in livox_mapping and livox_loam.
but in Fast_LIO, after rosbag play XXX.bag, a md5sum error will be show, (the bag will play anyway), and no pointclouds in rviz.
@XW-HKU
HI,:
does fast-lio support Mid-70?
you konw the best paramter for Mid-70?

n.param("lidar_type", lidar_type, 0);
n.param("blind", blind, 0.5);
n.param("inf_bound", inf_bound, 10);
n.param("N_SCANS", N_SCANS, 1);
n.param("group_size", group_size, 8);
n.param("disA", disA, 0.01);
n.param("disB", disB, 0.1);
n.param("p2l_ratio", p2l_ratio, 400);
n.param("limit_maxmid", limit_maxmid, 9);
n.param("limit_midmin", limit_midmin, 16);
n.param("limit_maxmin", limit_maxmin, 3.24);
n.param("jump_up_limit", jump_up_limit, 175.0);
n.param("jump_down_limit", jump_down_limit, 5.0);
n.param("cos160", cos160, 160.0);
n.param("edgea", edgea, 3);
n.param("edgeb", edgeb, 0.05);
n.param("smallp_intersect", smallp_intersect, 170.0);
n.param("smallp_ratio", smallp_ratio, 1.2);
n.param("point_filter_num", point_filter_num, 4);

FAST LIO 1 does not support MID serial, 2 will support mid serial but need an external IMU.