├── LICENSE ├── README.md ├── drone_cad ├── 30mm铜柱.SLDPRT ├── 35mm铜柱.SLDPRT ├── AVIA.SLDASM ├── CUAV Nora飞控.SLDPRT ├── FL2-020-R0.SLDPRT ├── T-motor F90电机.SLDPRT ├── T_cam_livox.SLDPRT ├── fly_base.SLDPRT ├── flying_LIVO.SLDASM ├── full_blade.SLDPRT ├── intel_nuc.SLDPRT ├── yunque-M.SLDASM ├── 主机架碳板.SLDPRT ├── 灯板-B.SLDPRT ├── 灯板.SLDPRT ├── 电池.SLDPRT ├── 电池固定板.SLDPRT ├── 电池着陆板.SLDPRT └── 飞控垫板.SLDPRT ├── handhold_cad ├── AVIA.SLDASM ├── DJI_manifold2.SLDPRT ├── FL2-020-R0.SLDPRT ├── LIVO.SLDASM ├── POWER.SLDPRT ├── T_cam_livox.SLDPRT ├── fix.SLDPRT ├── fix_imu.SLDPRT ├── handhold.SLDPRT ├── main_livox.SLDPRT └── screen.SLDPRT ├── livox_ros_driver ├── CMakeLists.txt ├── cmake │ └── version.cmake ├── common │ ├── FastCRC │ │ ├── FastCRC.h │ │ ├── FastCRC_tables.hpp │ │ ├── FastCRCsw.cpp │ │ ├── LICENSE.md │ │ └── README.md │ ├── comm │ │ ├── comm_device.h │ │ ├── comm_protocol.cpp │ │ ├── comm_protocol.h │ │ ├── gps_protocol.cpp │ │ ├── gps_protocol.h │ │ ├── protocol.h │ │ ├── sdk_protocol.cpp │ │ └── sdk_protocol.h │ ├── rapidjson │ │ ├── allocators.h │ │ ├── cursorstreamwrapper.h │ │ ├── document.h │ │ ├── encodedstream.h │ │ ├── encodings.h │ │ ├── error │ │ │ ├── en.h │ │ │ └── error.h │ │ ├── filereadstream.h │ │ ├── filewritestream.h │ │ ├── fwd.h │ │ ├── internal │ │ │ ├── biginteger.h │ │ │ ├── clzll.h │ │ │ ├── diyfp.h │ │ │ ├── dtoa.h │ │ │ ├── ieee754.h │ │ │ ├── itoa.h │ │ │ ├── meta.h │ │ │ ├── pow10.h │ │ │ ├── regex.h │ │ │ ├── stack.h │ │ │ ├── strfunc.h │ │ │ ├── strtod.h │ │ │ └── swap.h │ │ ├── istreamwrapper.h │ │ ├── memorybuffer.h │ │ ├── memorystream.h │ │ ├── msinttypes │ │ │ ├── inttypes.h │ │ │ └── stdint.h │ │ ├── ostreamwrapper.h │ │ ├── pointer.h │ │ ├── prettywriter.h │ │ ├── rapidjson.h │ │ ├── reader.h │ │ ├── schema.h │ │ ├── stream.h │ │ ├── stringbuffer.h │ │ └── writer.h │ └── rapidxml │ │ ├── rapidxml.hpp │ │ ├── rapidxml_iterators.hpp │ │ ├── rapidxml_print.hpp │ │ └── rapidxml_utils.hpp ├── config │ ├── display_hub_points.rviz │ ├── display_lidar_points.rviz │ ├── livox_hub_config.json │ └── livox_lidar_config.json ├── launch │ ├── livox_hub.launch │ ├── livox_hub_msg.launch │ ├── livox_hub_rviz.launch │ ├── livox_lidar.launch │ ├── livox_lidar_msg.launch │ ├── livox_lidar_rviz.launch │ ├── livox_template.launch │ ├── lvx_to_rosbag.launch │ └── lvx_to_rosbag_rviz.launch ├── livox_ros_driver │ ├── include │ │ └── livox_ros_driver.h │ ├── lddc.cpp │ ├── lddc.h │ ├── ldq.cpp │ ├── ldq.h │ ├── lds.cpp │ ├── lds.h │ ├── lds_hub.cpp │ ├── lds_hub.h │ ├── lds_lidar.cpp │ ├── lds_lidar.h │ ├── lds_lvx.cpp │ ├── lds_lvx.h │ ├── livox_ros_driver.cpp │ ├── lvx_file.cpp │ └── lvx_file.h ├── msg │ ├── CustomMsg.msg │ └── CustomPoint.msg ├── package.xml └── timesync │ ├── timesync.cpp │ ├── timesync.h │ └── user_uart │ ├── user_uart.cpp │ └── user_uart.h ├── livox_ros_driver2 ├── 3rdparty │ └── rapidjson │ │ ├── allocators.h │ │ ├── cursorstreamwrapper.h │ │ ├── document.h │ │ ├── encodedstream.h │ │ ├── encodings.h │ │ ├── error │ │ ├── en.h │ │ └── error.h │ │ ├── filereadstream.h │ │ ├── filewritestream.h │ │ ├── fwd.h │ │ ├── internal │ │ ├── biginteger.h │ │ ├── clzll.h │ │ ├── diyfp.h │ │ ├── dtoa.h │ │ ├── ieee754.h │ │ ├── itoa.h │ │ ├── meta.h │ │ ├── pow10.h │ │ ├── regex.h │ │ ├── stack.h │ │ ├── strfunc.h │ │ ├── strtod.h │ │ └── swap.h │ │ ├── istreamwrapper.h │ │ ├── license.txt │ │ ├── memorybuffer.h │ │ ├── memorystream.h │ │ ├── msinttypes │ │ ├── inttypes.h │ │ └── stdint.h │ │ ├── ostreamwrapper.h │ │ ├── pointer.h │ │ ├── prettywriter.h │ │ ├── rapidjson.h │ │ ├── reader.h │ │ ├── schema.h │ │ ├── stream.h │ │ ├── stringbuffer.h │ │ └── writer.h ├── CHANGELOG.md ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── build.sh ├── cmake │ └── version.cmake ├── config │ ├── HAP_config.json │ ├── MID360_config.json │ ├── display_point_cloud_ROS1.rviz │ ├── display_point_cloud_ROS2.rviz │ └── mixed_HAP_MID360_config.json ├── launch_ROS1 │ ├── mid360.launch │ ├── msg_HAP.launch │ ├── msg_MID360.launch │ ├── msg_mixed.launch │ ├── rviz_HAP.launch │ ├── rviz_MID360.launch │ └── rviz_mixed.launch ├── launch_ROS2 │ ├── msg_HAP_launch.py │ ├── msg_MID360_launch.py │ ├── rviz_HAP_launch.py │ ├── rviz_MID360_launch.py │ └── rviz_mixed.py ├── msg │ ├── CustomMsg.msg │ └── CustomPoint.msg ├── package.xml ├── package_ROS1.xml ├── package_ROS2.xml └── src │ ├── call_back │ ├── lidar_common_callback.cpp │ ├── lidar_common_callback.h │ ├── livox_lidar_callback.cpp │ └── livox_lidar_callback.h │ ├── comm │ ├── cache_index.cpp │ ├── cache_index.h │ ├── comm.cpp │ ├── comm.h │ ├── ldq.cpp │ ├── ldq.h │ ├── lidar_imu_data_queue.cpp │ ├── lidar_imu_data_queue.h │ ├── pub_handler.cpp │ ├── pub_handler.h │ ├── semaphore.cpp │ └── semaphore.h │ ├── driver_node.cpp │ ├── driver_node.h │ ├── include │ ├── livox_ros_driver2.h │ ├── ros1_headers.h │ ├── ros2_headers.h │ └── ros_headers.h │ ├── lddc.cpp │ ├── lddc.h │ ├── lds.cpp │ ├── lds.h │ ├── lds_lidar.cpp │ ├── lds_lidar.h │ ├── livox_ros_driver2.cpp │ └── parse_cfg_file │ ├── parse_cfg_file.cpp │ ├── parse_cfg_file.h │ ├── parse_livox_lidar_cfg.cpp │ └── parse_livox_lidar_cfg.h ├── mvs_ros_driver ├── CMakeLists.txt ├── config │ ├── left_camera_trigger.yaml │ └── right_camera_trigger.yaml ├── launch │ ├── mvs_camera_trigger.launch │ └── mvs_multiple_camera.launch ├── package.xml ├── rviz_cfg │ └── mvs_camera.rviz └── src │ └── grab_trigger.cpp ├── pics ├── 1.gif ├── 12PIN.jpg ├── 2.gif ├── 2.mp4 ├── 485.jpg ├── 6PIN.jpg ├── battery.jpg ├── cmos.jpg ├── cover.jpg ├── len.jpg ├── livox_avia.png ├── screen.jpg ├── stl.jpg ├── stm32.jpg ├── uav.jpg └── usb.jpg └── stm32_timersync-open ├── CORE ├── core_cm3.c ├── core_cm3.h └── startup_stm32f10x_hd.s ├── HARDWARE ├── KEY │ ├── key.c │ └── key.h ├── LED │ ├── led.c │ └── led.h └── TIMER │ ├── timer.c │ └── timer.h ├── STM32F10x_FWLib ├── inc │ ├── misc.h │ ├── stm32f10x_adc.h │ ├── stm32f10x_bkp.h │ ├── stm32f10x_can.h │ ├── stm32f10x_cec.h │ ├── stm32f10x_crc.h │ ├── stm32f10x_dac.h │ ├── stm32f10x_dbgmcu.h │ ├── stm32f10x_dma.h │ ├── stm32f10x_exti.h │ ├── stm32f10x_flash.h │ ├── stm32f10x_fsmc.h │ ├── stm32f10x_gpio.h │ ├── stm32f10x_i2c.h │ ├── stm32f10x_iwdg.h │ ├── stm32f10x_pwr.h │ ├── stm32f10x_rcc.h │ ├── stm32f10x_rtc.h │ ├── stm32f10x_sdio.h │ ├── stm32f10x_spi.h │ ├── stm32f10x_tim.h │ ├── stm32f10x_usart.h │ └── stm32f10x_wwdg.h └── src │ ├── misc.c │ ├── stm32f10x_adc.c │ ├── stm32f10x_bkp.c │ ├── stm32f10x_can.c │ ├── stm32f10x_cec.c │ ├── stm32f10x_crc.c │ ├── stm32f10x_dac.c │ ├── stm32f10x_dbgmcu.c │ ├── stm32f10x_dma.c │ ├── stm32f10x_exti.c │ ├── stm32f10x_flash.c │ ├── stm32f10x_fsmc.c │ ├── stm32f10x_gpio.c │ ├── stm32f10x_i2c.c │ ├── stm32f10x_iwdg.c │ ├── stm32f10x_pwr.c │ ├── stm32f10x_rcc.c │ ├── stm32f10x_rtc.c │ ├── stm32f10x_sdio.c │ ├── stm32f10x_spi.c │ ├── stm32f10x_tim.c │ ├── stm32f10x_usart.c │ └── stm32f10x_wwdg.c ├── SYSTEM ├── delay │ ├── delay.c │ └── delay.h ├── sys │ ├── sys.c │ └── 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