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 .
1 maintainer
Metadata
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Release files for py-livox2 0.1.0
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