Demo rosbag in a large underground garage:Google Drive|Baidu Pan (Code: ne8d); Corresponding map:Google Drive|Baidu Pan (Code: kw6f) The map can be built using LIO-SAM or FAST-LIO-SLAM. 4.2 Run First, please make sure you're using thePython 2.7environment; ...
Run localization, here we take Livox AVIA as an example: roslaunch fast_lio_localization localization_avia.launch map:=/path/to/your/map.pcd Please modify/path/to/your/map.pcdto your own map point cloud file path. Wait for 3~5 seconds until the map cloud shows up in RVIZ; If you are...
edit this param: globalmap_dir: "/home/xz/Desktop/catkin_fastlio_slam/data/totalmap.pcd" # starts and ends with "/". and you should also modify the lidar topic and imu topic. 3.3 run the launch and bag roslaunch sfast_lio mapping_velodyne_relocalization.launch rosbag play your-bag.ba...
@@ -81,50 +80,48 @@ FastLioLocalizationQn::FastLioLocalizationQn(const ros::NodeHandle &n_private): 81 80 82 81 void FastLioLocalizationQn::odomPcdCallback(const nav_msgs::OdometryConstPtr &odom_msg, const sensor_msgs::PointCloud2ConstPtr &pcd_msg) ...