3D-LiDAR（Livox：MID-360）を使った自己位置推定と移動軌跡の取得

$ sudo apt intall python3-pip

$ sudo apt intall ros-noetic-ros-numpy

$ pip install open3d

$ python3 -c "import open3d"

$git clone https://github.com/HViktorTsoi/FAST_LIO_LOCALIZATION.git
$cd FAST_LIO_LOCALIZATION
$git submodule update --init

$ catkin_make

$ sudo apt-get install 2to3

$ 2to3 -w ./scripts

$ pip uninstall -y numpy
$ pip install numpy=1.20.3

<launch>
<!-- Launch file for Livox MID-360 LiDAR -->

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

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

    <param name="feature_extract_enable" type="bool" value="0"/>
    <param name="point_filter_num" type="int" value="10"/>
    <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" />
    <param name="pcd_save_enable" type="bool" value="0" />

    <node pkg="fast_lio_localization" type="fastlio_mapping" name="laserMapping" output="screen" />
    <arg name="map" default="$(find fast_lio_localization)/pcd/scans.pcd" />

    <!-- loalization-->
    <node pkg="fast_lio_localization" type="global_localization.py" name="global_localization" output="screen">
    </node>

    <!-- transform  fusion-->
    <node pkg="fast_lio_localization" type="transform_fusion.py" name="transform_fusion" output="screen" />

    <!-- glbal map-->
    <node pkg="pcl_ros" type="pcd_to_pointcloud" name="map_publishe" output="screen"
            args="$(arg map) 5 _frame_id:=map cloud_pcd:=/map" />

    <group if="$(arg rviz)">
    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio_localization)/rviz_cfg/localization.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:  true      # 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:
  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

# only those scan2map-matching with higher fitness than LOCALIZATION_TH will be taken
　　　　LOCALIZATION_TH = 0.98
# FOV(rad), modify this according to your LiDAR type
　　　　FOV = 6.3
# The farthest distance(meters) within FOV
　　　　FOV_FAR = 50

$ roslaunch fast_lio_localization localization_mid360.launch

$ roslaunch livox_ros_driver2 msg_MID360.launch