Livox SDK2 Python

Brief Introduction

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

SDK compatibility

This release bundles Livox SDK2 1.3.3 (upstream commit 68ae1e1). It supports HAP, Mid-360, and Mid-360S (MID360S, MID-360S, or Mid360s in the YAML configuration).

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 Iceoryx point layout). 24

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.

Device controls

auto_configure_device: true
pcl_data_type: 1       # Required: Cartesian high resolution.
work_mode: 1            # Normal mode.
imu_data_enabled: true
pattern_mode: null      # 0, 1, or 2 when explicitly required.
dual_emit_en: null
blind_spot_set: null
extrinsic_parameter: null  # Or {roll, pitch, yaw, x, y, z}; angle in degrees, xyz in mm.

# Mid-360S only. Keep null to preserve the LiDAR's current setting.
pps_sync_mode: null
esc_mode: null
imu_out_rate: null
imu_accel_range: null
imu_gyro_range: null

pcl_data_type deliberately supports only 1: the CLI decodes high-resolution Cartesian packets. Selecting low-resolution or spherical packets would require a different point decoder and is rejected before any device command is sent.

For development you can keep the editable install active with:

pip install -e .

Key dates

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Latest release

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Avatar for Astrorix from gravatar.com Astrorix

Credits

Author: Astrorix

License

MIT License (The following portions of the LIVOX’s Livox SDK2 (“Software” referred to in the terms below) are made available to you under the terms of the MIT License. A copy of the MIT license is provided below and is also available at https://opensource.org/licenses/MIT.)

Requires

Python >=3.8

Provides Extra

dev ipc

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