FASTER-LIO-ROS2

Migration Faster-LIO to ROS2

Originally Implemented by https://github.com/GangGeon10/Faster-LIO-ROS2

Environment

• Ubuntu 20.04 LTS
• ROS galactic version

Known Problems

The code won't work when migrating to ROS Jazzy. Odometry drifts in the very beginning.

Dependency

1. ROS galactic
2. glog: sudo apt-get install libgoogle-glog-dev
3. eigen: sudo apt-get install libeigen3-dev
4. pcl: sudo apt-get install libpcl-dev
5. yaml-cpp: sudo apt-get install libyaml-cpp-dev
6. Livox-SDK2 (you can ignore steps 6 and 7 by switching to the branch https://github.com/RollingOat/faster-lio-ros2/tree/faster-lio-ros2-ouster)
7. livox_ros_driver2

Build

cd ~/<work_space>/src
git clone https://github.com/RollingOat/faster-lio-ros2.git
cd ~/<work_space>
colcon build --symlink-install

Run

source install/local_setup.sh
ros2 launch faster_lio mapping_ouster64.launch.py

Acknowledgments

Thanks to Faster-LIO for their research