RTAB map using a Livox Lidar

Posted by m.4ndree on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-using-a-Livox-Lidar-tp10847.html

Hello There!

I am currently trying to set up my rtabmap to create a 3d-map representation of the PointCloud2 data of my Livox 3D-Lidar. I have managed to create a 2D map using Rviz which is working perfectly fine.
I am running into some issues though...
Starting up rtabmap I have created a new database and selected a .ini file with the following adjustments to ensure the data is being received:
SubscribeScanCloud=true
ScanCloudTopic=/livox/lidar
FrameId=livox_frame
rgbd\driver=0

The error I am getting at the moment is that it can't find any rgb-d camera. I then proceeded to set camera in the preferences to none and navigated down to the lidar option in which I wanted to set this option to my LiDAR. Bu the only option visible is called "VLP-16", which unfortunately is not the LiDAR i am using. I also echo'd the topic and I am receiving the right data.
As mentioned before I am using a Livox LiDAR. Does anyone have an input to where I am going wrong?
I would really appreciate the help!