This repository uses a ROS node to subscribe to camera (hikvision) and lidar (livox) data. After the node merges the data, it publishes the colored point cloud and displays it in rviz.

Related tags

Miscellaneous ros-melodic lidar-camera-fusion livox-horizon
Overview

fusion-lidar-camera-ROS

一、介绍

本仓库是一个ROS工作空间，其中ws_fusion_camera/src有一个工具包color_pc

ws_fusion_camera
│   README.md
│   
└───src
     │
     └───package: color_pc
                     │    node: color_pc_node   (fusion get colored point cloud)
                     │    node: intetral_node   (intetral colored point cloud)
                     │    node: color_pc_sync_node (use ROS message_filters::Synchronizer)
                     │
                     └───launch
                               launch file: fusion.launch(color_pc & rviz)
                               launch file: integral.launch(integral & rviz)
                               launch file: sync_fusion.launch(color_pc_sync & rviz)

调试环境：

注意:由于Hikvision网络相机不支持SDK软触发，因此两个设备无法做时间同步，硬件配置适用于对时间同步性要求较低的任务

二、使用方法

  1. 安装ROS
  2. 安装livox和hikvision ROS驱动[1, 2, 3]
  3. 安装本仓库
mkdir -p ~/xxx/src
cd ~/xxx/src
catkin_init_workspace
git clone https://github.com/GCaptainNemo/fusion-lidar-camera-ROS.git
mv ./fusion-lidar-camera-ROS/ws_fusion_camera/src/color_pc  ./
mv ./fusion-lidar-camera-ROS/ws_fusion_camera/src/launch_file  ./
cd ..
catkin_make
  1. 运行相机和激光雷达设备驱动
roslaunch livox_ros_driver livox_lidar.launch
roslaunch hikvision_ros hik.launch ip_addr:=192.168.1.64 password:=xxx

或者下载ROS-bag测试数据 地址: https://pan.baidu.com/s/1w7bDKjnXJyfzvX33t-spTA 提取码: n8px

  1. 运行color_pc数据融合节点，并在rviz中显示
roslaunch color_pc fusion.launch

三、效果

融合效果 点云时间积分效果

四、参考资料

[1] hikvision相机装ROS驱动

[2] livox 驱动安装

[3] livox SDK安装

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Comments
  • bag error

    bag error

    when i run the fuse_node,the terminal tell that [ERROR] [1655797891.195600078]: Client [/color_pc_node] wants topic /livox/lidar to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [livox_ros_driver/CustomMsg/e4d6829bdfe657cb6c21a746c86b21a6]. Dropping connection. how can i fix the problem?

    opened by QipiaoZhou 2
Owner
hongyu wang
hongyu wang
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