3D-LiDAR（Livox：MID-360）を使った3D-MAP作成「FAST-LIOの実装」

$git clone https://github.com/hku-mars/FAST_LIO ~/FAST-LIO/src/FAST-LIO
$cd ~/FAST_LIO/src/FAST-LIO
$git submodule update --init

<launch>
  <!-- Launch file for Livox MID360 LiDAR -->

    <arg name="rviz" default="true" />

    <rosparam command="load" file="$(find fast_lio)/config/mid360.yaml" />

    <param name="feature_extract_enable" type="bool" value="0"/>
    <param name="point_filter_num" type="int" value="3"/>
    <param name="max_iteration" type="int" value="3" />
    <param name="filter_size_surf" type="double" value="0.5" />
    <param name="filter_size_map" type="double" value="0.5" />
    <param name="cube_side_length" type="double" value="1000" />
    <param name="runtime_pos_log_enable" type="bool" value="0" />

    <node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" />

    <group if="$(arg rviz)">
    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
    </group>

   </launch>

common:
        lid_topic:  "/livox/lidar"
        imu_topic:  "/livox/imu"
        time_sync_en: false                 # ONLY turn on when external time synchronization is really not possible
        time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README).
        # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0

    preprocess:
        lidar_type: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
        scan_line: 4
        blind: 0.2

    mapping:
        acc_cov: 0.1
        gyr_cov: 0.1
        b_acc_cov: 0.0001
        b_gyr_cov: 0.0001
        fov_degree:    360
        det_range:      50.0
        extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic
        extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
        extrinsic_R: [ 1, 0, 0,
        　        0, 1, 0,
        0, 0, 1]

    publish:
        path_en:  true
        scan_publish_en:  true       # false: close all the point cloud output
        dense_publish_en: true       # false: low down the points number in a global-frame point clouds scan.
        scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame

    pcd_save:
        pcd_save_en: true
        interval: -1           # how many LiDAR frames saved in each pcd file; 
        # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

$ roslaunch livox_ros_driver2 msg_MID360.launch
$ roslaunch fast_lio mapping_mid360.launch