Article directory
Recurrence Summary
According to the markdown document on GitHub, a simple record of the entire process of setting up the FAST_LIO environment and verifying the Rosbag Example.
Related code and data download
url: https://pan.baidu.com/share/init?surl=3wPb34JGQc0RMR_UNKVNCA
pwd: 41qs
Environment build
Reference https://github.com/hku-mars/FAST_LIO
- Livox-sdk
- livox_ros_driver
- FAST_LIO
Run demo
A brief description
As mentioned before, fast_lio is an odometer calculation method. It can output the odometer information of the robot based on the input sensor data. As shown in the figure below, under the launch folder under the fast_lio file, there are a total of four radar launch files, namely avia, horizon, outer64, and velodyne, and the config files are the yaml configuration files of these four radars.
And the rosbag example we are about to do below is actually to start the corresponding launch file first, and then play the bag file with rosbag, using the data in the bag file to simulate the data sent by the sensor to fastlio. The bag file contains the data of the corresponding sensor, and to ensure that the data in the bag file can be sent to fastlio correctly, we also need to ensure that the topic in the corresponding radar configuration file is consistent with the topic of the data in the bag file.
As shown below, the velodyne radar configuration file and bag data file are consistent.
If they are inconsistent, nothing will happen in rviz.
Velodyne Rosbag TEST
Before starting the mapping_velodyne.launch file, be sure to confirm whether the topic in the velodyne radar configuration file is consistent with the topic in the bag file. After confirming the consistency, roslaunch the corresponding launch file.
roslaunch fast_lio mapping_velodyne.launch
Then, open the terminal where the bag data packet is stored and start playing the data. After that, a series of data points will be displayed in rviz.
rosbag play YOUR_DOWNLOADED.bag
rosbag play demo01_velodyne.bag
Preview the mapping effect
pcl_viewer xxxxxx.pcd
Odometer topic release
https://zhuanlan.zhihu.com/p/492496857