Fast-LIO-Tinker

Fast-LIO2 For Tinker is based on Ericsii / FAST_LIO_ROS, which is an implementation of fast-lio2 on Livox MID 360. It uses Fast-LIO2(3D SLAM) to build the grid map. This repository relies on Livox-SDK2.

Unless specially mentioned, all the following instructions should be executed in this repository.

Launch Fast-LIO2

ros2 launch fast_lio mapping.launch.py config_file:=mid360.yaml

Launch Chassis & Lidar

In repository tk23_navigation:

sudo ./setupcan.sh
./chassis_lidar_bringup.zsh

Run Lidar Odom

The lidar_odom here only publishes filtered pointcloud2. It does not publish odom.

ros2 run lidar_odom lidar_odom

Launch Scan Convert

Convert /Laser_map (which is in pointcloud2) to /scan

ros2 launch livox_ros_driver2 convert_launch.py