1.准备工作https://www.livoxtech.com/mid-360s/downloads下载说明书Mid-360S User Manual查看软件Livox Viewer2-windows电脑ip地址设置为192.168.1.5雷达地址为192.168.1.1序列号后两位连接后查看点云图像注意点云和imu发布地址为电脑ip。2.功能包包1Livox_SDK2下载后解压放入工作空间src文件夹按照要求进行编译即可https://gitcode.com/gh_mirrors/li/Livox-SDK2?source_modulesearch_result_repo包2livox_ros_driver2https://gitcode.com/GitHub_Trending/li/livox_ros_driver2?utm_sourcehighlight_word_gitcodewordlivox_ros_driver2from_linkfd14bf8881326b1a3bc71f302c57a9b7下载后解压放入工作空间src文件夹注意编译方法source /opt/ros/humble/setup.sh ./build.sh humble3.配置文件修改nano ~/ws_sj_r01a/src/livox_ros_driver2/config/MID360s_config.json修改雷达和电脑ip对应地址如雷达192.168.1.168电脑192.168.1.5CtrlX退出y保存。同步到install目录cp ~/ws_sj_r01a/src/livox_ros_driver2/config/MID360s_config.json \ ~/ws_sj_r01a/install/livox_ros_driver2/share/livox_ros_driver2/config/4.rviz查看雷达点云数据source install/setup.bash ros2 launch livox_ros_driver2 rviz_MID360s_launch.py