HITL Setup with Real Livox LiDAR - Sensor Data Integration Issue

PX4 Autopilot
1

I’m setting up HITL testing with real Livox LiDAR, but struggling to integrate the real sensor data with the simulated drone position.

My Hardware Setup:

  • Pixhawk 6X (USB connected, HITL mode)
  • Livox Mid-360 LiDAR (Ethernet connected to the same PC)
  • Real USB camera for ARUCO detection
  • No physical drone - just components on the desk

The Specific Problem:
In HITL mode, the simulated drone moves and changes position (gains altitude, moves in XY), but my physical Livox LiDAR is stationary on the desk. The Livox provides point cloud data from its fixed position, which doesn’t match the simulated drone’s movement.

What I Want to Achieve:

  • Use real Livox data for obstacle detection and docking
  • Maintain accurate simulated position from PX4 HITL

Key Questions:

  • How should I use local position information from LIO(Lidar inertial odometry) running on my pc to feed into PX4, as my lidar is on a desk and it does not change its position?

Environment:

  • PX4 v1.16
  • ROS Noetic
  • Ubuntu 20.04
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