livox mid40用livox_ros_driver时报错In lidar mode, couldn't connect a hub怎么解决

Question

roslaunch livox_ros_driver livox_lidar.launch
然后报错：In lidar mode, couldn't connect a hub：。

已知livox_ros_driver的内部代码

void LdsLidar::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
  if (info == nullptr) {
    return;
  }

  if (info->dev_type == kDeviceTypeHub) {
    printf("In lidar mode, couldn't connect a hub : %s\n", info->broadcast_code);
    return;
 

所以，“info->dev_type == kDeviceTypeHub“怎么解决

Answer 1

连接hub要用“roslaunch livox_ros_driver livox_hub.launch”，并提前修改配置文件/catkin_ws/src/livox_ros_driver/livox_ros_driver/config/livox_hub_config.json文件，修改json里面的broadcast_code参数等，broadcast_code可以在雷达背后二维码里找找。