From 81ef8f1211b0b88aea0a56216d236189691e83d6 Mon Sep 17 00:00:00 2001
From: IkuoShige <85383887+IkuoShige@users.noreply.github.com>
Date: Sun, 26 Nov 2023 20:42:32 +0900
Subject: [PATCH] Feat update message type of /livox/lidar to
 sensor_msgs/PointCloud2 (#83)

* Feat update message type of /livox/lidar to sensor_msgs/PointCloud2

* Feat update link of msg_MID360.launch.py
---
 docs/document/real_machine/set_up/livox.md | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/docs/document/real_machine/set_up/livox.md b/docs/document/real_machine/set_up/livox.md
index f8bde9c..ebda3f4 100644
--- a/docs/document/real_machine/set_up/livox.md
+++ b/docs/document/real_machine/set_up/livox.md
@@ -135,14 +135,26 @@ ping 192.168.1.119
     +    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DROS_EDITION=${VERSION_ROS2} -DHUMBLE_ROS=${ROS_HUMBLE}
     ```
 
-    ### 3.4 hostpcとLIVOXのIPアドレスの設定
+    ### 3.4 [msg_MID360_launch.py](https://github.com/Livox-SDK/livox_ros_driver2/blob/master/launch_ROS2/msg_MID360_launch.py#L8)の変更
+    ```bash
+    sed -i 's/xfer_format   = 1/xfer_format   = 0/' $HOME/livox_ws/src/livox_ros_driver2/launch_ROS2/msg_MID360_launch.py
+    ```
+
+    ```diff linenums="8"
+    -xfer_format   = 1    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
+    +xfer_format   = 0    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
+    ```
+    !!! note
+        `/livox/lidar`のメッセージ型を`sensor_msgs/msg/PointCloud2`に設定
+
+    ### 3.5 hostpcとLIVOXのIPアドレスの設定
 
     ```bash
     sed -i "s/192.168.1.5/192.168.1.50/g" $HOME/livox_ws/src/livox_ros_driver2/config/MID360_config.json
     sed -i "s/192.168.1.12/192.168.1.119/g" $HOME/livox_ws/src/livox_ros_driver2/config/MID360_config.json
     ```
 
-    ### 3.5 build
+    ### 3.6 build
 
     ```bash
     cd $HOME/livox_ws/src/livox_ros_driver2
@@ -151,7 +163,7 @@ ping 192.168.1.119
     source $HOME/livox_ws/install/setup.bash
     ```
 
-    ### 3.6 実行
+    ### 3.7 実行
 
     ```bash
     ros2 launch livox_ros_driver2 rviz_MID360_launch.py