1.2.4

Fixed

• Optimize framing performance

1.2.3

Fixed

• Optimize framing logic and reduce CPU usage
• Fixed some known issues

1.2.1

Fixed

• Fix a timestamp problem in CustomMsg format.

1.2.0

Added

• Revise the frame segmentation logic.
• (Notice!!!) Add Timestamp to each point in Livox pointcloud2 (PointXYZRTLT) format. The PointXYZRTL format has been updated to PointXYZRTLT format. Compatibility needs to be considered.

Fixed

• Improve support for gPTP and GPS synchronizations.

1.1.3

Fixed

• Improve performance when running in ROS2 Humble;

1.1.2

Changed

• Change publish frequency range to [0.5Hz, 10 Hz];

Fixed

• Fix a high CPU-usage problem;

1.1.1

Added

• Offer valid line-number info in the point cloud data of MID-360 Lidar.
• Enable IMU by default.

Changed

• Update the README slightly.

1.0.0

Added

• support Mid-360 Lidar.
• support for Ubuntu 22.04 ROS2 humble.
• support multi-topic fuction, the suffix of the topic name corresponds to the ip address of each Lidar.

Changed

• remove the embedded SDK.
• Constraint: Livox ROS Driver 2 for ROS2 does not support message passing with PCL native data types.

Fixed

• Fix IMU packet loss.
• Fix some conflicts with livox ros driver.
• Fixed HAP Lidar publishing PointCloud2 and CustomMsg format point clouds with no line number.