livox-sdk/livox_ros_driver2

How livox-sdk/livox_ros_driver2 works

Livox ROS Driver 2 connects Livox LiDAR devices to ROS 1 or ROS 2 and publishes point-cloud and IMU data. The principal flow is launch/configuration into driver startup, LiDAR setup and packet handling, then ROS message publication; supported output formats and mixed-device scenarios are documented in the README. The excerpts show publisher and message-output behavior, while some startup and callback wiring is known only from the SOURCE INDEX, so uncertain runtime links are omitted.

Main entry points: livox_ros_driver2.cpp Driver entry · lds_lidar.cpp LiDAR lifecycle · lddc.cpp ROS data converter · launch_ROS2 Launch examples

Components 16

Startup and configuration

Launch examples launch_ROS2
Driver entry src/livox_ros_driver2.cpp
Driver node src/driver_node.cpp
LiDAR config parser src/parse_cfg_file/parse_livox_lidar_cfg.cpp

LiDAR acquisition

LiDAR lifecycle src/lds_lidar.cpp
Device callbacks src/call_back/livox_lidar_callback.cpp
Common callbacks src/call_back/lidar_common_callback.cpp
Data source base src/lds.cpp

Packet processing

Point cloud handler src/comm/pub_handler.cpp
Packet queues src/comm

ROS publication

ROS data converter src/lddc.cpp
Point cloud topics
IMU topics

Other components

ROS operator
Livox LiDAR
ROS runtime

Connections 16

ROS operator → Launch examples: selects
Launch examples → Driver entry: starts
Driver entry → Driver node: initializes src/livox_ros_driver2.cpp
Driver entry → LiDAR lifecycle: initializes src/livox_ros_driver2.cpp
LiDAR lifecycle → LiDAR config parser: parses src/lds_lidar.cpp
LiDAR lifecycle → Device callbacks: registers
LiDAR lifecycle → Common callbacks: registers
Livox LiDAR → Device callbacks: sends events
Livox LiDAR → Point cloud handler: sends packets
Point cloud handler → Packet queues: processes packets src/comm/pub_handler.cpp
Driver entry → ROS data converter: initializes src/livox_ros_driver2.cpp
ROS data converter → Data source base: registers source src/lddc.cpp
ROS data converter → Point cloud topics: publishes src/lddc.cpp
ROS data converter → IMU topics: publishes src/lddc.cpp
Point cloud topics → ROS runtime: uses topics
IMU topics → ROS runtime: uses topics

More C++ diagrams: cppfastio/fast_io · rikyoz/bit7z · kelsidavis/wowee · intel/caffe · rgaufman/live555

Drawn by GitDiagram on September 30, 2026 from the repository's file tree, README and source files. Read as Markdown ·