3D-LiDAR（Livox：MID‐360）を使った3D-MAP作成

$ wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz

$ cd ~/livox_ws/src/
$ git clone https://github.com/ixs-yuichiro-okui/LIO-Livox.git

   :
38行目 ///// Add /////
39行目 pcl::PointCloud<pointype>::Ptr livox_full_map(new pcl::PointCloud<pointype>());
40行目 ///// Add /////
:
570行目 ///// Add /////
571行目       *livox_full_map += *laserCloudAfterEstimate;
572行目 ///// Add /////
:
628行目 ///// Add /////
629行目   std::string save_map_file;>
630行目   ros::param::get("~save_map_file",save_map_file);>
631行目   std::cout << "===== Save PCD file =====" << std::endl;>
632行目   pcl::io::savePCDFileBinary(save_map_file, *livox_full_map);>
633行目 ///// Add /////<pointype><pointype>

$ catkin_make

<launch>

<node pkg="lio_livox" type="ScanRegistration" name="ScanRegistration" output="screen">

<param name="config_file" value="$(find lio_livox)/config/mid360_config.yaml"/>
<!--0-custom msg ,1 ros sensor msg pointcloud2 msg  -->
<param name="msg_type" type="int" value="0"/>
</node>

<node pkg="lio_livox" type="PoseEstimation" name="PoseEstimation" output="screen">
<!-- 0-Not Use IMU, 1-Use IMU remove Rotation Distort, 2-Tightly Coupled IMU -->
<param name="IMU_Mode" type="int" value="1" />
<!-- Voxel Filter Size Use to Downsize Map Cloud -->
<param name="filter_parameter_corner" type="double" value="0.2" />
<param name="filter_parameter_surf" type="double" value="0.4" />
<!-- Extrinsic Parameter between Lidar & IMU -->
<rosparam param="Extrinsic_Tlb"> [0.9999161, 0.0026676,  0.0126707, -0.011,
                        -0.0025826, 0.9999741, -0.0067201, -0.0234,
                        -0.0126883, 0.0066868,  0.9998971,   0.044,
                        0.0,       0.0,        0.0,      1.0]</rosparam>

<param name="save_map_file" type="string" value="$(find lio_livox)/pcd/map.pcd" />
</node>

<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find lio_livox)/rviz_cfg/lio.rviz" />

</launch>