This ROS1 (Noetic) package reads, modifies, and publishes Livox Lidar PointCloud2.
The code is referred from the ROS2 version livox_to_pointcloud2.
Modify the ROS1 bag path variable in the file src/main.cpp (lines 61 and 67), build and run
rosrun livox_pointcloud2 livox_pointcloud2_node