Drivers

Livox LiDAR Driver

livox_ros_driver2 — Livox MID360 LiDAR driver.

Module Role

livox_ros_driver2 is the official MID360-facing driver layer. It is responsible for:

• establishing network communication with the LiDAR
• receiving and decoding raw device data
• publishing point cloud and IMU messages to ROS 2
• feeding upper-layer modules such as Point-LIO and Fast-LIO

Main Outputs

Direction	Topic	Type	Description
Publish	/livox/lidar	livox_ros_driver2/CustomMsg or sensor_msgs/PointCloud2	LiDAR point cloud
Publish	/livox/imu	sensor_msgs/Imu	Built-in IMU output

Key Configs

• config/MID360_config.json
• launch parameters such as xfer_format, publish_freq, and frame_id

Recommended Reading

• LiDAR Setup
• Point-LIO
• Fast-LIO

Note

The Chinese page remains the more detailed reference for the full parameter coverage.