Aug 2021
: The Livox-lidar tests and corresponding launch files will be uploaded soon. Currenty only Ouster lidar tutorial videos had been made. Integration of
The below commands and the launch files are made for playing the MulRan dataset, but applicable for livox lidars in the same way (you could easily make your own launch files).
# terminal 1: run FAST-LIO2
mkdir -p ~/catkin_fastlio_slam/src
cd ~/catkin_fastlio_slam/src
git clone https://github.com/gisbi-kim/FAST_LIO_SLAM.git
git clone https://github.com/Livox-SDK/livox_ros_driver
cd ..
catkin_make
source devel/setup.bash
roslaunch fast_lio mapping_ouster64_mulran.launch # setting for MulRan dataset
# open the other terminal tab: run SC-PGO
cd ~/catkin_fastlio_slam
source devel/setup.bash
roslaunch aloam_velodyne fastlio_ouster64.launch # setting for MulRan dataset
# open the other terminal tab
# run file_player_mulran (for the details, refer here https://github.com/irapkaist/file_player_mulran)
Tutorial video 1 (using KAIST 03 sequence of MulRan dataset)
Example Video 2 (Riverside 02 sequence of MulRan dataset)