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Livox-SDK/livox_ros_driver2
Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
Livox's ROS 1 and ROS 2 driver for its LiDARs (HAP, Mid-360, Mid-360s, Avia2, Mid-360L), built on top of Livox-SDK2. It is for people bringing a Livox sensor onto a robot or test rig who want a point cloud topic without writing the protocol layer themselves.
It covers several device families and mixed rigs from one tree, and the per-device JSON exposes the settings you actually tune: pcl_data_type, pattern_mode, blind_spot_set for HAP, and extrinsics. The multi-NIC section shows one launch file per interface, which is the case most drivers skip. The custom message carries a per-point offset_time against a timebase, and the PointCloud2 format includes a float64 timestamp per point, so motion deskewing does not have to reconstruct time from frame boundaries. One build.sh handles ROS1, Foxy, Humble and Jazzy, and rapidjson is vendored, so there is no extra config parser to install.
The README says outright that this is a debugging driver for test scenarios, not for mass production, and tells you to optimize it from the source. If you ship something on it, you own the fork. Livox-SDK2 is a separate build you must install first, and the FAQ's fix for a missing liblivox_sdk_shared.so is to append /usr/local/lib to LD_LIBRARY_PATH in your shell or bashrc. That suggests the build does not make the library findable on its own. The docs have also drifted from the tree: FAQ 6.1 and 6.2 name livox_lidar_rviz_HAP files that do not exist (the real ones are rviz_HAP.launch and rviz_HAP_launch.py), rviz_mixed.py breaks the _launch.py naming used elsewhere in launch_ROS2, and the JSON examples carry # comments that strict parsers reject.