Lidar Fleet Display

Visualiser for a fleet of lidars

• Host server uses websockets to accept point data and forwards them along to connected browsers
• Browser app for visualising the point cloud data
• ROS node for for converting PointCloud2 messages to websocket arraybuffer

TODO:

• Expand to multiple point clouds using lidar id

General Setup

Install nodejs

Web

Build: docker-compose build

Run: docker-compose up

Go to http://<host>:3002

Run without Docker

Server

cd web/server
npm install
npm run server

Browser

cd web/app
npm install
npm run build

For the dev version:

cd web/app
npm install
npm start

Lidar

Websocket Client

Converts PointCloud2 messages (and by default PCL as well) into an arraybuffer of Points for sending along through websocket

To build:

cd ros
catkin_make
source devel/setup.bash

Using the env_template file as a guide, fill in the .env file for your environment, eg HOST, PORT, etc:

cd src
cp env_template .env
vim .env

For example:

HOST=localhost
PORT=3002
LIDAR_ID=foo
LIDAR_TOPIC=/livox/lidar

Still in the src folder, install dependencies

npm install

To start the client:

npm run start

OR without the env var part in the ros way...

rosrun lidar_websocket lidar_client.js

Livox

Follow README for Livox-SDK-ROS