Lidar with No Nebula

[shpark98]

I successfully implemented Autoware using Hesai LiDAR and SBG IMU.

This time, I am planning to use Livox LiDAR HAP with LiDAR data and IMU data.

However, Nebula does not support Livox.

In this case, is it still possible to use Autoware?

If so, how is LiDAR point cloud preprocessing handled?

Are there any references or guides I can follow?

[amadeuszsz]

Hi @shpark98

If your sensor is not supported by Nebula, you can use default sensor's driver. However, you might need to write a separate node for converting data points. Please, check our docs for point cloud fields.

[knzo25]

@shpark98
In addition to @amadeuszsz 's comments, please note that the ring outlier filter may need to be removed.
In the past, we had projects using Livox and while you probably can not use the following code any longer, it may serve as reference:
https://github.com/tier4/aip_launcher/blob/309c116677297ca94c2941fed35b531de9da5ae1/common_sensor_launch/launch/livox_horizon.launch.py