Georg Flick

have you checked the rosbag with `rosbag info`, to see if there are messages in the bag?

I had the same question and what I observed in the point cloud was, that the "other" points were always points near the lidar origin. In the livox_viewer, when you...

what do you mean by that question? I would suggest to add a bit more context.

maybe start the driver two times with different configs? one for each interface?

maybe the hardware, where you are running the ros driver is not powerful enough?

I don't know if I understood your question correctly, but you can define the ports from your host and the lidar in the config: https://github.com/Livox-SDK/livox_ros_driver2/blob/852c1475b386f107298082d0a540e304f30c6d14/config/MID360_config.json#L5-L23 under `lidar_net_info` and `host_net_info` and...

You can change that for the visualization in RViz under the entry `Decay Time`: 

I think the problem here is, that the min range is not added to the ray range. You could try to set the min ray length to 0.0 and see...

It's coded here: https://github.com/cartographer-project/cartographer/blob/ef00de2317dcf7895b09f18cc4d87f8b533a019b/cartographer/mapping/internal/motion_filter.cc#L46

maybe your issue is related to https://github.com/Livox-SDK/livox_laser_simulation/issues/3 ?