修改launch，多用sep的launch，mid-100并不一定能够为r3live使用

README.md

@@ -1,3 +1,4 @@
+<<<<<<< HEAD
 # Livox ROS Driver([览沃ROS驱动程序中文说明](https://github.com/Livox-SDK/livox_ros_driver/blob/master/README_CN.md))
 
 livox_ros_driver is a new ROS package, specially used to connect LiDAR products produced by Livox. The driver can be run under ubuntu 14.04/16.04/18.04 operating system with ROS environment (indigo, kinetic, melodic) installed. Tested hardware platforms that can run livox_ros_driver include: Intel x86 cpu platforms, and some ARM64 hardware platforms (such as nvida TX2 / Xavier, etc.).
@@ -287,3 +288,8 @@ You can get support from Livox with the following methods :
 
 * Send email to [email protected] with a clear description of your problem and your setup
 * Report issue on github
+=======
+# livox_ros_driver_zyx
+livox时间同步的driver
+修改了pointcloud2和customMsg的时间戳，与系统时间同步
+>>>>>>> c757a5dcdefb4e7a64c9bf343732668e418e5783

launch/livox_hub_cloud_sep.launch

@@ -0,0 +1,43 @@
+<launch>
+
+	<arg name="lvx_file_path" default="livox_test.lvx"/>
+	<arg name="bd_list" default="100000000000000"/>
+	<arg name="xfer_format" default="0"/>
+	<arg name="multi_topic" default="1"/>
+	<arg name="data_src" default="1"/>
+	<arg name="publish_freq" default="10.0"/>
+	<arg name="output_type" default="0"/>
+	<arg name="rviz_enable" default="false"/>
+	<arg name="rosbag_enable" default="false"/>
+	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
+
+	<param name="xfer_format" value="$(arg xfer_format)"/>
+	<param name="multi_topic" value="$(arg multi_topic)"/>
+	<param name="data_src" value="$(arg data_src)"/>
+	<param name="publish_freq" type="double" value="$(arg publish_freq)"/>
+	<param name="output_data_type" value="$(arg output_type)"/>
+	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
+	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
+	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
+
+	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
+	      type="livox_ros_driver_node" required="true"
+	      output="screen" args="$(arg cmdline_arg)"/>
+
+	<group if="$(arg rviz_enable)">
+		<node name="rviz" pkg="rviz" type="rviz" respawn="true"
+				args="-d $(find livox_ros_driver)/config/display_hub_points.rviz"/>
+    </group>
+
+	<group if="$(arg rosbag_enable)">
+    	<node pkg="rosbag" type="record" name="record" output="screen"
+          		args="-a"/>
+    </group>
+
+</launch>

launch/livox_lidar_msg_sep.launch

@@ -0,0 +1,43 @@
+<launch>
+
+	<arg name="lvx_file_path" default="livox_test.lvx"/>
+	<arg name="bd_list" default="100000000000000"/>
+	<arg name="xfer_format" default="1"/>
+	<arg name="multi_topic" default="1"/>
+	<arg name="data_src" default="0"/>
+	<arg name="publish_freq" default="10.0"/>
+	<arg name="output_type" default="0"/>
+	<arg name="rviz_enable" default="false"/>
+	<arg name="rosbag_enable" default="false"/>
+	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
+
+	<param name="xfer_format" value="$(arg xfer_format)"/>
+	<param name="multi_topic" value="$(arg multi_topic)"/>
+	<param name="data_src" value="$(arg data_src)"/>
+	<param name="publish_freq" type="double" value="$(arg publish_freq)"/>
+	<param name="output_data_type" value="$(arg output_type)"/>
+	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
+	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
+	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
+
+	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
+	      type="livox_ros_driver_node" required="true"
+	      output="screen" args="$(arg cmdline_arg)"/>
+
+	<group if="$(arg rviz_enable)">
+		<node name="rviz" pkg="rviz" type="rviz" respawn="true"
+				args="-d $(find livox_ros_driver)/config/display_lidar_points.rviz"/>
+    </group>
+
+	<group if="$(arg rosbag_enable)">
+    	<node pkg="rosbag" type="record" name="record" output="screen"
+          		args="-a"/>
+    </group>
+
+</launch>