1. Scope of Application

This document describes the configuration method for the Livox-mid70 laser sensor.

Second, Debugging Resources

https://www.livoxtech.com/cn/downloads, the software is named: Livox_viewer

3. Parameter Configuration

1. Configure the Livox_viewer parameter

Download the PC software Livox_viewer from the following address (https://www.livoxtech.com/cn/downloads).
Our company uses the Dji Livox-mid70 3D lidar to detect obstacles. The effective field of view angle for Livox-mid is 70.4 degrees, as shown in the figure below:

If the PC and Livox device are directly connected, set the PC's IP address type to static IP address, with the IP address set to 192.168.1.2, subnet mask set to 255.255.255.0, and default gateway set to 192.168.1.1. Then, download the Livox_viewer software from DJI's website and connect the laser, turning on the Livox Viewer. The main screen will be displayed, which consists of a toolbar, device manager, and point cloud display interface.

Livox After successfully connecting the device, click on the Device settings button in the toolbar to open the device's parameter setting screen and view the current state of Livox and changes to its parameters.

Next, set the laser's IP address to a static IP address within the 192.168.192.XXX network segment.

2. Utilize Roboshop Configuration

Similar to the two 3D lasers mentioned above, select the Camera type as DJI-mid70-tcp if only one 3D laser is used. If the PercipioID parameter is left blank, the current laser can be found automatically. If more than two lasers are installed, the PercipioID is required and can be found behind the laser QR code below a string of SN code. You can view it using the Livox_viewer as shown below:

The last digit of the mid-70s is also 1.

If only one Livox sensor is being used, part 2 in the RoboShop configuration interface can be left blank and no SN code needs to be filled in. If multiple Livox sensors are being used, the SN code of the corresponding sensor needs to be accurately filled in according to the installation position.
On the RoboShop configuration screen, select a DJI-mid7-TCP model for the brand. IP and port are not required.
Part 1 refers to the external parameters of the sensor, which can be obtained through calibration;
The onlyForPalletDetection parameter should be left unchecked when used for obstacle avoidance.