27 May 2024: Fix a bug in the calculation of the synthetic GPRMC timestamp, which could cause timestamp rollback. Additionally, we add checksum verification for GPRMC.20 May 2024: According to Livox Avia's pin requirements, we convert PPS TTL level to RS485 level and supplement it with more detailed electronic connection and material list.
This repository provides the CAD files (with suffix “*.SLDPRT and *.SLDASM”) for our handheld device, which can be opened and edited with Solidworks. All of the modules are suitable for printing with FDM (Fused Deposition Modeling). In addition, we have also open-sourced our hardware synchronization scheme, as well as the STM32 source code and hardware wiring configuration instructions.
Contributors: Sheng Hong and Chunran Zheng
├── handhold_cad/ - CAD source files
│ ├── ...
├── livox_ros_driver/ - Livox LiDAR ROS driver
│ ├── ...
├── livox_sdk/ - Livox LiDAR SDK
│ ├── ...
├── mvs_ros_pkg/ - Camera driver
│ ├── ...
└── stm32_timersync-open/ - Embedded engineering folder
│ ├── USER/ - Main functionality folder
│ ├── ...
└── README.md - Project homepage document
└── ...
The assembly instructions are demonstrated in the GIFs below. Each module is clearly labeled corresponding to the name of its STL file.
The guide for the electronic connections is presented as follows:
| Livox AVIA LiDAR M12 | Peripheral Function | Diagram |
|---|---|---|
| PIN 1 | Power: + |
 AVIA 12-Pin Interface, top: female bottom: male |
| PIN 2 | Power: - | |
| PIN 7 | Ethernet: right PIN3 | |
| PIN 6 | Ethernet: left PIN3 | |
| PIN 5 | Ethernet: green PIN2 | |
| PIN 4 | Ethernet: green / white | |
| PIN 11 | RS485_B | |
| PIN 12 | RS485_A |
Note: STM32 PB5 (PPS signal) is converted from TTL to RS-485, resulting in RS-485_A and RS-485_B. STM32 TXD (GPRMC) is converted from TTL to USB and sent to the PC. If you are using the Mid360, you can directly connect STM32 PB5 to PIN 12 of the LiDAR M12.
| MVS Camera 6PIN | Name | I/O Type | Description | Peripheral Function | Diagram |
|---|---|---|---|---|---|
| PIN 1 | DC_PWR | -- | Power Supply |
 MVS Camera 6-Pin Interface |
|
| PIN 2 | OPTO_IN | Line 0+ | Optical Isolation Input | STM32 PA1 | |
| PIN 3 | GPIO | Line 2+ | General Purpose Input/Output | ||
| PIN 4 | OPTO_OUT | Line 1+ | Optical Isolation Output | ||
| PIN 5 | OPTO_GND | Line 0- / 1- | Optical Isolation Ground | STM32 GND | |
| PIN 6 | GND | Line 2- | Ground |
| Item | Pics | Purchasing list |
|---|---|---|
| Livox Avia LiDAR |  |
Livox Avia |
| CMOS |  |
MV-CA013-21UC |
| Camera Len |  |
MVL-HF0628M-6MPE |
| STM32 |  |
STM32F103C8T6 |
| Screen |  |
IPS Screen 14'' |
| Battery |  |
4800mah |
| TTL to USB |  |
TTL to USB |
| TTL to 485 |  |
TTL to 485 |
The source code is released under GPLv2 license.
If you use any code of this repo in your academic research, it will be very appreciated if you can cite any of our following papers:
[1] Zheng, Chunran, et al. "FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry."
[2] Hong, Sheng, et al. "Rollvox: real-time and high-quality LiDAR colorization with rolling shutter camera."