diff --git a/README.md b/README.md
index e1a25d67b718b9f37e54898578a33e2df1549645..0cddc52c75d3b1c93baab1077d27a79fdac63dff 100644
--- a/README.md
+++ b/README.md
@@ -181,11 +181,12 @@ rosbag play your-bag.bag -r 3
     <img src="./config/doc/ouster-demo.gif" alt="drawing" width="300"/>
 </p>
 
-  - **Livox Horizon lidar:** Please note that solid-state lidar hasn't been extensively tested with LIO-SAM yet. An external IMU is also used here rather than the internal one. The support for such lidars is based on minimal change of the codebase from mechanical lidars. Other SLAM solutions may offer better implementations. More studies and suggestions are welcome. Please change the following parameters to make LIO-SAM work with Livox Horizon lidar:
+  - **Livox Horizon lidar:** Please note that solid-state lidar hasn't been extensively tested with LIO-SAM yet. An external IMU is also used here rather than the internal one. The support for such lidars is based on minimal change of the codebase from mechanical lidars. A customized [livox_ros_driver](https://github.com/TixiaoShan/livox_ros_driver) needs to be used to publish point cloud format that can be processed by LIO-SAM. Other SLAM solutions may offer better implementations. More studies and suggestions are welcome. Please change the following parameters to make LIO-SAM work with Livox Horizon lidar:
     - sensor: livox
     - N_SCAN: 6
     - Horizon_SCAN: 4000
     - edgeFeatureMinValidNum: 1
+    - Use [livox_ros_driver](https://github.com/TixiaoShan/livox_ros_driver) for data recording
 
 <p align='center'>
     <img src="./config/doc/livox-demo.gif" alt="drawing" width="600"/>
diff --git a/src/imageProjection.cpp b/src/imageProjection.cpp
index f107cd47ec86da668c4a25ceac17f0dd522edf42..49e6abb1bf947c60aff479e1ef08f3de33e35d87 100644
--- a/src/imageProjection.cpp
+++ b/src/imageProjection.cpp
@@ -84,7 +84,7 @@ private:
     double timeScanEnd;
     std_msgs::Header cloudHeader;
 
-    vector<int> columnIdnCountLivox;
+    vector<int> columnIdnCountVec;
 
 
 public:
@@ -141,7 +141,7 @@ public:
             imuRotZ[i] = 0;
         }
 
-        columnIdnCountLivox.assign(N_SCAN, 0);
+        columnIdnCountVec.assign(N_SCAN, 0);
     }
 
     ~ImageProjection(){}
@@ -552,8 +552,8 @@ public:
             }
             else if (sensor == SensorType::LIVOX)
             {
-                columnIdn = columnIdnCountLivox[rowIdn];
-                columnIdnCountLivox[rowIdn] += 1;
+                columnIdn = columnIdnCountVec[rowIdn];
+                columnIdnCountVec[rowIdn] += 1;
             }
             
             if (columnIdn < 0 || columnIdn >= Horizon_SCAN)