LiDAR Setup

Install Livox-SDK2

cd ~
sudo apt update
sudo apt install -y cmake git
git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd Livox-SDK2
mkdir -p build
cd build
cmake ..
make -j$(nproc)
sudo make install

Verify the Installation

ldconfig -p | grep LivoxSdkCore

Remove an Old Livox-SDK2 Installation

sudo rm -rf /usr/local/lib/liblivox_lidar_sdk_*
sudo rm -rf /usr/local/include/livox_lidar_*

Prepare `livox_ros_driver2`

Before building the workspace:

cp ~/venom_ws/src/venom_vnv/driver/livox_ros_driver2/package_ROS2.xml \
   ~/venom_ws/src/venom_vnv/driver/livox_ros_driver2/package.xml

Configure a Static NIC IP

Recommended static NIC settings for a MID360 link:

Host NIC IP: 192.168.1.50
Netmask: 255.255.255.0
Gateway: 192.168.1.1

The MID360 usually stays in the same subnet. Keep Wi-Fi online if you also need SSH or remote desktop at the same time.

Update the MID360 Config File

Edit:

~/venom_ws/src/venom_vnv/driver/livox_ros_driver2/config/MID360_config.json

Key fields to check:

"cmd_data_ip": "192.168.1.50",
"push_msg_ip": "192.168.1.50",
"lidar_ip": "192.168.1.133"

cmd_data_ip and push_msg_ip should match your host NIC IP
lidar_ip must match the actual MID360 IP on your setup

Validate the LiDAR Link

First test the network:

ping 192.168.1.133

Then launch a basic validation flow:

cd ~/venom_ws
source install/setup.bash
ros2 launch livox_ros_driver2 rviz_MID360_launch.py

Next Step

If you also need boot-time routing, network priority, or automatic startup behavior, continue with rc.local.