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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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How to run FAST_LIO by using Livox and external IMU? #337

Closed WN-Wolf closed 3 weeks ago

WN-Wolf commented 1 month ago

I am a beginner, if you by pass, please give me some advice, many thanks! lidar：livox mid-70 IMU：wit JY901B

Q1: If I get a LiDAR_IMU_Init result, like this: I want to know, how to use this result in FAST_LIO? Where to use this result? image

Q2: For Livox serials with external IMU I have modified config/avia.yaml like this. image and then run command, "roslaunch fast_lio mapping_avia.launch".

What about the next? run this command "rosbag play my_record_lidar_imu.bag"?

How to get "my_record_lidar_imu.bag"? Is it recorded using this command after time synchronization? "rosbag record -o my_livox_wit.bag /livox/lidar /wit/imu"

WN-Wolf commented 1 month ago

Let me answer my question! haha!

  1. How to use the Initialization_result.txt. image
  2. How to run fast_lio2 first terminal: roslaunch livox_ros_driver livox_lidar_msg.launch second terminal: roslaunch wit_ros_imu wit_imu.launch last terminal: roslaunch fast_lio mapping_avia.launch pcd file path: /fast_lio2/src/FAST_LIO/PCD, then download pcl_viewer to watch pointclound.