Changelog

All notable changes to this project will be documented in this file.

[1.2.4]

Fixed

Optimize framing performance

[1.2.3]

Fixed

Optimize framing logic and reduce CPU usage
Fixed some known issues

[1.2.1]

Fixed

Fix offset time error regarding CustomMsg format message publishment.

[1.2.0]

Added

Revise the frame segmentation logic.
(Notice!!!) Add Timestamp to each point in Livox pointcloud2 (PointXYZRTLT) format. The PointXYZRTL format has been updated to PointXYZRTLT format. Compatibility needs to be considered.

Fixed

Improve support for gPTP and GPS synchronizations.

[1.1.3]

Fixed

Improve performance when running in ROS2 Humble.

[1.1.2]

Changed

Change publish frequency range to [0.5Hz, 10 Hz].

Fixed

Fix a high CPU-usage problem.

[1.1.1]

Added

Offer valid line-number info in the point cloud data of MID-360 Lidar.
Enable IMU by default.

Changed

Update the README slightly.

[1.0.0]

Added

Support Mid-360 Lidar.
Support for Ubuntu 22.04 ROS2 humble.
Support multi-topic fuction, the suffix of the topic name corresponds to the ip address of each Lidar.

Changed

Remove the embedded SDK.
Constraint: Livox ROS Driver 2 for ROS2 does not support message passing with PCL native data types.

Fixed

Fix IMU packet loss.
Fix some conflicts with livox ros driver.
Fixed HAP Lidar publishing PointCloud2 and CustomMsg format point clouds with no line number.