源头还是使用官方的ROS版本的驱动修改得到的，一个不使用ROS的LIVOX-MID360的驱动

需要安装mid360的 SDK 

在.cpp中 std::string m_IP = "192.168.192.46"设置雷达的IP地址

在config.json 文件中，修改 "cmd_data_ip" : "192.168.192.50", "push_msg_ip"， "point_data_ip"， "imu_data_ip" 为你的本机的IP地址

在pub_Handler的uint64_t PubHandler::GetEthPacketTimestamp(uint8_t timestamp_type, uint8_t* time_stamp, uint8_t size)，通过timestamp_type 来设置获取道德数据的时间戳类型，本工程设置为获取硬件时间

完整代码的联系方式在文章最下方

#include "lds_lidar.h"
#include <iostream>
#include "LivoxMid360.h"
#include "rapidjson/document.h"
#include "rapidjson/prettywriter.h"
#include "rapidjson/stringbuffer.h"#include <fstream>
#include <iostream>// #include <pcl/visualization/cloud_viewer.h>using namespace livox_mid;LivoxMid360::LivoxMid360()
{
}LivoxMid360::~LivoxMid360()
{printf("delete livox mid360");
}
void LivoxMid360::PointCloudDataPollThread()
{std::future_status status;std::this_thread::sleep_for(std::chrono::seconds(3));do{std::vector<PointXyzlt> PointCloud;PointCloud.clear();uint64_t timestamp = 0;uint64_t timestampPrev=0;lddc->DistributePointCloudData(PointCloud, timestamp);if (timestampPrev!=timestamp){std::cout << "PointCloud------:" << PointCloud.size() << std::endl;}timestampPrev=timestamp;status = future_.wait_for(std::chrono::microseconds(0));} while (status == std::future_status::timeout);
}void LivoxMid360::ImuDataPollThread()
{std::future_status status;u_int64_t timestamp = 0;std::this_thread::sleep_for(std::chrono::seconds(3));do{livox_mid::ImuData imu_data;// std::vecto<livox_mid::ImuData> imu_data;lddc->DistributeImuData(imu_data);if (timestamp != imu_data.time_stamp){// std::cout << "ImuData------:" << imu_data.time_stamp << std::endl;}timestamp = imu_data.time_stamp;status = future_.wait_for(std::chrono::microseconds(0));} while (status == std::future_status::timeout);
}
void LivoxMid360::run()
{//    std::cout << "Livox Ros Driver Version: " << LIVOX_MID_DRIVER_VERSION_STRING << "\n";// signal(SIGINT, SignalHandler);LivoxLidarSdkVer _sdkversion;GetLivoxLidarSdkVer(&_sdkversion);if (_sdkversion.major < kSdkVersionMajorLimit){printf("The SDK version is too low");}// saveCfgFile();int xfer_format = kPointCloud2Msg;int multi_topic = 0;int data_src = kSourceRawLidar;double publish_freq = 10.0; /* Hz */int output_type = kOutputToRos;std::string frame_id = "livox_frame";bool lidar_bag = true;bool imu_bag = false;std::string m_IP = "192.168.192.46";int ret = 0;double mMaxLength = 1.2;const std::string &path = "Mid360/config/MID360_config.json";lddc = new Lddc(xfer_format, multi_topic, data_src, output_type,publish_freq, frame_id, lidar_bag, imu_bag, mMaxLength, m_IP);LdsLidar *read_lidar = LdsLidar::GetInstance(publish_freq);lddc->RegisterLds(static_cast<Lds *>(read_lidar));bool flag = true;if (!read_lidar->isInitialized())flag = read_lidar->InitLdsLidar(path);future_ = exit_signal_.get_future();if (flag){printf("lds lidar has init!");}else{printf("Init lds lidar fail!");// SLEEP(500);}std::thread pointclouddata_poll_thread_(&LivoxMid360::PointCloudDataPollThread, this);std::thread imudata_poll_thread_(&LivoxMid360::ImuDataPollThread, this);while (true){}
}int main()
{LivoxMid360 lm360;lm360.run();return 0;
}