This is a C++ Software Development Kit(SDK) for connecting and using the ML-X LiDAR developed by SOSLAB.

• SDK v2.3.0

• Intensity image has been converted to mono8, and is projected to Pointcloud Array
• sensor_msgs/pointcloud2 now comes in Velodyne VLP format, containing timestamp and ring information (vertical scan number)
• tf now changed to ml_sensor -> SLAM and ROS tf friendly application, easy to stick with other base_link

• Release v2.3.0
• Remove unnecessary code
• Modify to allow changes to PC Gateway and Netmask

• add yaml parameter to designate custom link from config and make it set while launch step

1. Getting Started
2. Installation and Setup
3. Using SOS Studio
4. Documentation

To get started with this project, you will need:

• C++ development environment
• Windows or Ubuntu operating system
• SOSLAB ML-X LiDAR device

Clone this repository to your local machine to access the APIs, examples, and other resources.

APIs and examples for Windows can be found in the MLX_API/examples/test_ml folder.

APIs and examples for Ubuntu/ROS can be found in the MLX_API/examples/ros_ml folder.

To be updated.

SOS Studio is a LiDAR visualization software that runs on both Windows and Linux operating systems.
The Linux version supports Ubuntu 18.04, 20.04, and 22.04.

To install and use SOS Studio on Windows, follow these steps:

1. Navigate to the SOS_Studio/Windows folder.
2. Run the SOS Studio_setup.exe executable file.

To install and use SOS Studio on Linux, follow these steps:

1. Open the terminal and navigate to the 'SOS_Studio/Linux' folder.
2. Install the required dependencies by running the following command:

sudo apt-get install '^libxcb.*-dev'

3. Make the sos_studio.sh file executable by running the following command:

chmod a+x ./sos_studio.sh
chmod a+x ./deployqt/bin/sos_studio

4. Execute the sos_studio.sh script to run SOS Studio:

./sos_studio.sh

User guides can be found in the User_Guide folder:

• User Guide (English)
• User Guide (Korean)

SOS Studio S/W uses the Qt library, which is licensed under the GNU Lesser General Public License (LGPL) version 3.
We have complied with the requirements of the LGPL by dynamically linking to the Qt library.
This means that users have the ability to replace the Qt library with their own version if they wish.

The source code of the Qt library can be found here:
https://download.qt.io/official_releases/qt/

For more information about the LGPL, please refer to the full text of the license, available here:
https://www.gnu.org/licenses/lgpl-3.0.html