py-livox2 0.0.2

Python bindings for the Livox SDK2 with a ready-to-run CLI demo.

Livox SDK2 Python

Brief Introduction

Livox SDK2 Python uses pybind11 to wrap some of the Livox SDK2 C++ interfaces into Python.

Requirements

• Ubuntu 20.04+ (other modern Linux distros should also work)
• CMake ≥ 3.16, a C++17-capable compiler, and the Python development headers
• Python ≥ 3.8

Install the native build toolchain before invoking pip:

sudo apt update
sudo apt install build-essential cmake python3-dev

Installation & Usage

Build and install the Python wheel (which compiles the livox_sdk extension) in one step:

pip install .

After the installation finishes, the livox console script becomes available and mirrors the historical samples/livox_python/start.py demo:

livox

The CLI continuously publishes point clouds / IMU data at the configured pub_rate_hz until you press Ctrl+C. To temporarily override the YAML value, pass --pub-rate 20 (example) when launching the command.

Frame IDs, service names, and the pub_rate_hz are all driven by the YAML exported through livox_cfg. Edit the config once via livox_cfg new / livox_cfg set and every subsequent livox invocation will pick up the persisted values.

Variable	Meaning	Default
LIVOX_POINTCLOUD_MAX_POINTS	Maximum points per frame (controls shared memory usage).	200000
LIVOX_POINT_FIELD_CAPACITY	Maximum number of PointField entries carried in the message.	6
LIVOX_FRAME_ID_MAX_LEN	Max characters stored in the Header.frame_id.	64
LIVOX_POINT_FIELD_NAME_MAX_LEN	Max characters stored per field name.	32
LIVOX_POINTCLOUD_POINT_STEP	Bytes per point (should match the point layout).	20

Adjust them to match the desired cloud density before starting the CLI.

All network parameters now live inside a YAML file stored alongside the installed package (.../site-packages/livox_sdk_cli/cfg/livox_start.yaml). Use the companion livox_cfg helper to create and persist edits:

livox_cfg new            # dump the current config into ./livox_start.yaml
# edit ./livox_start.yaml as needed
livox_cfg set livox_start.yaml  # persist the changes back into site-packages

Key fields of the YAML include pub_rate_hz, frame_id, pointcloud_service, and imu_service, allowing you to control every publisher parameter without touching code.

For development you can keep the editable install active with:

pip install -e .