Add FASTLIO2 with logging and auto-relocalization#1
Closed
baishibona wants to merge 1 commit intoVectorRobotics:jazzyfrom
Closed
Add FASTLIO2 with logging and auto-relocalization#1baishibona wants to merge 1 commit intoVectorRobotics:jazzyfrom
baishibona wants to merge 1 commit intoVectorRobotics:jazzyfrom
Conversation
A few things before you can run it: To enable auto-relocalization, edit localizer.yaml: auto_relocalize: true default_pcd_path: "/path/to/your/map.pcd" initial_x: 1.0 initial_y: 2.0 initial_z: 0.0 initial_yaw: 1.57 # radians Expected Log Output [INFO] [localizer_node]: [AUTO-RELOC] Enabled with map: /path/to/map.pcd [INFO] [localizer_node]: [AUTO-RELOC] Initial pose: x=1.000, y=2.000, z=0.000, yaw=1.570 ... [INFO] [localizer_node]: [AUTO-RELOC] Triggering relocalization... [INFO] [localizer_node]: [AUTO-RELOC] Map: /path/to/map.pcd [INFO] [localizer_node]: [AUTO-RELOC] Map loaded successfully [INFO] [localizer_node]: [AUTO-RELOC] Initial guess set, waiting for localization... [INFO] [localizer_node]: [RELOCALIZE] SUCCESS - Localization converged Usage: FASTLIO2 only (SLAM): ros2 launch fastlio2 lio_launch.py FASTLIO2 + Localizer (with relocalization): ros2 launch localizer localizer_launch.py Both launch files include rviz2 automatically.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary