Problem with multiple lidars #47
Description
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Hi,
I'm working on a robot equipped with three different Livox mid 70 lidars and I'm currently facing a problem when trying to run all of them simultaneously using ROS 2 Humble on Ubuntu 22.04.
What I want to achieve:
Run each lidar publishing on a unique topic (e.g. /livox/lidar_1, /livox/lidar_2, /livox/lidar_3)
Associate each lidar with a different frame_id (e.g. lidar_1_frame, lidar_2_frame, lidar_3_frame)
Current problem:
When launching multiple instances of the driver — even after setting different cmdline_bd_code parameters (e.g. 'livox0000000001') for each instance and loading three different config files for each node — I encounter the following issues:
Sometimes only one of the lidars initializes
Other times, two initialize but under the same node or topic
It seems like one instance interferes with the other
I’m also unsure about the recommended way to properly use multiple lidars with different frames.
I noticed the multi_topic option allows displaying multiple lidars simultaneously, but it publishes them under the same frame, which is not suitable for my use case.
Setup:
ROS 2 Humble
Ubuntu 22.04
Livox SDK / ROS 2 driver (latest release as of June 2025)
3 Livox lidars connected via Ethernet
Is there an officially supported way to run multiple Livox lidars in ROS 2 with different topics and frames for each?
If so, could you please share a recommended example or configuration?