环境配置
系统要求:Ubuntu 18.04/20.04,ROS Melodic/Noetic
依赖安装:
sudo apt-get install ros-${ROS_DISTRO}-cv-bridge ros-${ROS_DISTRO}-tf
sudo apt-get install libomp-dev libceres-dev
Eigen3.3.7+:需手动安装高版本 Eigen(FAST_LIO2 要求 Eigen≥3.3.7):
git clone https://gitlab.com/libeigen/eigen.git
cd eigen && mkdir build && cd build
cmake .. && sudo make install
源码编译
FAST_LIO:
git clone https://github.com/hku-mars/FAST_LIO.git
cd FAST_LIO && mkdir build && cd build
cmake .. && make -j4
FAST_LIO2:
git clone https://github.com/hku-mars/FAST_LIO2.git
cd FAST_LIO2 && mkdir build && cd build
cmake .. && make -j4
数据集准备
支持格式:
- ROS bag 文件(需包含
/imu和/points话题) - 公开数据集(如 NTU VIRAL、HILTI 等)
数据播放:
rosbag play your_bag.bag --clock
参数配置
关键参数文件:
config/velodyne.yaml(传感器参数)config/mapping.yaml(算法参数)
修改示例:
# velodyne.yaml
lidar_topic: "/points"
imu_topic: "/imu"

