电脑配置：Xavier-nx、ubuntu 18.04、ros melodic
激光雷达：Livox_Mid-360
结果展示：左边 Mid360+Fast-lio 感知建图，右边 Ego-planner 运动规划
1. 读取雷达数据并显示
查看雷达数据话题 (imu 及 lidar)
2. 复现 Fast-LIO
启动 Fast-LIO 节点
由于此处不需要建图，因此不打开 rviz，launch 文件如下修改：
<launch> <!-- Launch file for Livox MID360 LiDAR --> <arg name="rviz" default="true" /> <rosparam command="load" file="$(find fast_lio)/config/mid360.yaml" /> <param name="feature_extract_enable" type="bool" value="0"/> <!-- 100HZ 的 bag point_filter_num 建议设置为 1; 10HZ 的 bag 建议设置为 2 或 3 --> <param name="point_filter_num" type="int" value="3"/> <param name="max_iteration" type="int" value="3" /> <param name="filter_size_surf" type="double" value="0.5" /> <param name="filter_size_map" type="double" value="0.5" /> <param name="cube_side_length" type="double" value="1000" /> <param name="runtime_pos_log_enable" type="bool" value="0" /> <node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" /> <!-- <group if="$(arg rviz)"> <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" /> </group> --> </launch>
运行命令
roslaunch fast_lio mapping_mid360.launch
检查话题列表
rostopic list
