Problems setting spherical coordinates on Livox Horizon

[Zlank]

Hello,

I want to use a point cloud with spherical coordinates, so as it says in the livox_ros_driver github, I set coordinate parameter to "1" and then I see what kind of coordinates I find. I always see cartesian coordinates instead of spherical.

I use a script to see the type of coordinates that the LiDAR is giving to me . So that I see (p.x, p.y, p.z, p.intensity) to see what kind of points are recorded (because that is the composition of a point in the pointcloud). As I am recording a wall, I see that x is almost constant, and the other parameters are variable.

Could you please tell me what I have done wrong?

Thanks in advance.

[Livox-SDK]

Hi,Zlank: The livox_ros_driver have convert the raw point data to Pxyzrtl or Pxyzr before pubulish.