livox_scanner

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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.

2.Hardware modules

First of all, you need to prepare the following hardware modules. The remarks have descriptions and links of related products.

Main components of this setup are shown in the follow figure.

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;

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

• PCL
• Eigen

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:

The finished result:

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

The real-time result: