This code is the LIO-SAM version adapted for Livox MID360. Supports the use of six-axis and nine-axis IMUs
[本代码为LIO-SAM适配Livox MID360版本。
支持使用六轴和九轴IMU]
Same dependencies as LIO-SAM ( LIO-SAM ) Please install the LIVOX ROS package to publish point cloud data ( Livox ROS driver ) If you use the Livox-ros-driver2 driver, you can switch the branch to Livox-ros-driver2 \
[- 与LIO-SAM有相同依赖 ( LIO-SAM ）
- 请安装LIVOX ROS包用于发布点云数据 ( 览沃 ROS 驱动程序 )
如果使用Livox-ros-driver2 驱动可以切换分支为 Livox-ros-driver2]
For Livox MID360 data, please use Livox's custom point cloud data CustomMsg, that is, run livox_lidar_msg.launch for the LIVOX ROS driver.
[Livox MID360雷达数据请使用览沃自定义点云数据CustomMsg，即LIVOX ROS驱动请运行livox_lidar_msg.launch]
If you use the built-in 6-axis IMU, please run
[使用自带的6轴IMU请运行]
roslaunch lio_sam run6axis.launch
If you use the 9-axis IMU, please run
[使用9轴IMU请运行]
roslaunch lio_sam run9axis.launch
Indoor environment rotation test
[- 室内环境旋转测试]
Outdoor environment tilt handheld
[- 室外环境 倾斜手持]
Indoor environment
[- 室内环境]
Pay attention to aligning the timestamps of Lidar and IMU.
[- 注意对齐Lidar与IMU的时间戳。]
If you use a non-built-in IMU, pay attention to modifying the external parameters of LiDAR and IMU. (param.yaml file)
[- 使用非自带IMU注意修改Lidai与IMU的外参。(param.yaml文件)]
When processing, multiply the gravity acceleration to convert to m/s^2. If you use other six-axis IMUs, you need to comment this statement.
[- 六轴IMU默认使用MID360内置的IMU，加速度单位为g，处理时乘重力加速度转换为m/s^2，如果使用其他六轴IMU需要注释这条语句。]
If you observe the IMU odometer jitter, please adjust the IMU parameters
[- 如果观察到IMU里程计抖动的话，请调节IMU参数]
Extract feature optimization \
- [提取特征优化]