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
2、读取雷达数据并复现 fast-lio
启动 fast-lio，确保话题有输出
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>
然后运行：
roslaunch fast_lio mapping_mid360.launch
看一下话题：
rostopic list
看下/Odometry 与/cloud_registered
