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Livox LiDAR 3D scanner
中文文档
1.System overview
The 3D scanning solution mainly consists of a MID-40, a DJI Manifold 2, and a GM6020 motor with an encoder. The LiDAR and the motor are mounted on top of a tripod and the MID-40 rotates around the z axis to scan different parts of the room. The point cloud data is then integrated to give an overall 3D image.
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/structure.png)
2.Hardware modules
First of all, you need to prepare the following hardware modules. The remarks have descriptions and links of related products.
Name | Nums | Remarks |
---|---|---|
Mid-40 | 1 | Mid-40 |
GM6020 | 1 | Brushless DC motor,GM6020 |
Manifold 2 | 1 | NVIDIA Jetson TX2 core,Manifold 2-G |
DC-DC Buck module | 1 | 24V-12V,DC-DC |
Main components of this setup are shown in the follow figure.
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/scanning_1.png)
3.Hardware connection
1、Use Livox Viewer to configure Mid-40 to static IP mode;
2、The ethernet of Livox Converter: connect to Manifold 2;
3、The power interface of Livox Converter: connect to DC-DC 12V power;
4、GM6020 CAN interface: connect to the CAN0 interface of manifold2, the CAN_L and CAN_H pins of the ports on both sides need to correspond;
5、GM6020 power interface: connect to 24V DC power;
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/2.png)
Remarks:
- Motor angle accuracy. GM6020 angle accuracy: 360/8192 ≈ 0.04.
- Motor control. Using a PID controller to keep the motor at a constant rotation speed during scanning.
4.Software
Install PCL, Eigen dependencies
Install livox_scanner
cd ws_livox/src
git clone https://github.com/Livox-SDK/livox_scanner.git
# build
cd ../
catkin_make
source ./devel/setup.bash
Software Configuration
Communication with the motor uses CAN0 interface of Manifold 2, Root and run can_config.sh:
sudo ./can_config.sh
Run
roslaunch scanner_publisher scanner.launch
5.Result
The real-time result:
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/result/square.gif)
The finished result:
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/result/square.png)
6.Livox Tele-15 example
Instruction
Tele-15 has the characteristics of long measuring distance and high detection accuracy. After rotation, it can obtain a large-scale space mapping effect.
Remarks:
- The Tele-15 is equipped with Livox Converter 2.0, which can be directly connected to 24V DC power supply, without the need to use DC-DC buck module.
Result
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/result/tele01.png)
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/result/tele02.png)
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/result/tele03.png)
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/result/tele04.png)
The real-time result:
![](https://github.com/Livox-SDK/livox_scanner/raw/master/doc/images/result/tele01.gif)