diff --git a/README.md b/README.md index c2d5aa0d..125b646b 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,10 @@ -**Noted: Ubuntu 16.04 and lower is not supported** - ## Related Works 1. [ikd-Tree](https://github.com/hku-mars/ikd-Tree): A state-of-art dynamic KD-Tree for 3D kNN search. 2. [IKFOM](https://github.com/hku-mars/IKFoM): A Toolbox for fast and high-precision on-manifold Kalman filter. 3. [UAV Avoiding Dynamic Obstacles](https://github.com/hku-mars/dyn_small_obs_avoidance): One of the implementation of FAST-LIO in robot's planning. -4. [R2LIVE](https://github.com/hku-mars/dyn_small_obs_avoidance): A high-precision LiDAR-inertial-Vision fusion work using FAST-LIO as LiDAR-inertial front-end. +4. [R2LIVE](https://github.com/hku-mars/r2live): A high-precision LiDAR-inertial-Vision fusion work using FAST-LIO as LiDAR-inertial front-end. +5. [UGV Demo](https://www.youtube.com/watch?v=wikgrQbE6Cs): Model Predictive Control for Trajectory Tracking on Differentiable Manifolds. ## FAST-LIO **FAST-LIO** (Fast LiDAR-Inertial Odometry) is a computationally efficient and robust LiDAR-inertial odometry package. It fuses LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion, noisy or cluttered environments where degeneration occurs. Our package address many key issues: @@ -52,7 +51,7 @@ ## 1. Prerequisites ### 1.1 **Ubuntu** and **ROS** -**Ubuntu >= 18.04 (Ubuntu 16.04 is not supported)** +**Ubuntu >= 16.04** For **Ubuntu 18.04 or higher**, the **default** PCL and Eigen is enough for FAST-LIO to work normally. @@ -87,6 +86,8 @@ Clone the repository and catkin_make: - If you want to use a custom build of PCL, add the following line to ~/.bashrc ```export PCL_ROOT={CUSTOM_PCL_PATH}``` ## 3. Directly run + +Please make sure the IMU and LiDAR are **Synchronized**, that's important. ### 3.1 For Avia Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then ``` @@ -97,14 +98,26 @@ Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installat ``` - If you want to change the frame rate, please modify the **publish_freq** parameter in the [livox_lidar_msg.launch](https://github.com/Livox-SDK/livox_ros_driver/blob/master/livox_ros_driver/launch/livox_lidar_msg.launch) of [Livox-ros-driver](https://github.com/Livox-SDK/livox_ros_driver) before make the livox_ros_driver pakage. -### 3.2 For Velodyne or Ouster (using Velodyne as an example) +### 3.2 For Livox serials with external IMU -Step A: Setup before run +mapping_avia.launch theratically supports mid-70, mid-40 or other livox serial lidar, but need to setup some parameters befor run: -Edit ``` FAST-LIO/config/velodyne.yaml ``` to set the below parameters: +Edit ``` config/avia.yaml ``` to set the below parameters: 1. lidar point cloud topic name: ``` lid_topic ``` 2. IMU topic name: ``` imu_topic ``` +3. Translational extrinsic: ``` extrinsic_T ``` +4. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix) +- The extrinsic parameters in FAST-LIO is defined as the LiDAR's pose (position and rotation matrix) in IMU body frame (i.e. the IMU is the base frame). They can be found in the official manual. + +### 3.3 For Velodyne or Ouster (Velodyne as an example) + +Step A: Setup before run + +Edit ``` config/velodyne.yaml ``` to set the below parameters: + +1. lidar point cloud topic name: ``` lid_topic ``` +2. IMU topic name: ``` imu_topic ``` (both internal and external, 6-aixes or 9-axies are fine) 3. Line number (we tested 16 and 32 line, but not tested 64 or above): ``` scan_line ``` 4. Translational extrinsic: ``` extrinsic_T ``` 5. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix) @@ -118,6 +131,7 @@ Step B: Run below ``` Step C: Run LiDAR's ros driver or play rosbag. + *Remarks:* - We will produce some velodyne datasets which is already transfered to Rosbags, please wait for a while. diff --git a/config/avia.yaml b/config/avia.yaml index 81767805..5b3e57cd 100644 --- a/config/avia.yaml +++ b/config/avia.yaml @@ -3,7 +3,7 @@ common: imu_topic: "/livox/imu" preprocess: - lidar_type: 1 # Livox Avia LiDAR + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, scan_line: 6 blind: 1 diff --git a/config/fast_lio.yaml b/config/fast_lio.yaml deleted file mode 100644 index e69de29b..00000000 diff --git a/config/horizon.yaml b/config/horizon.yaml index ec691e0e..293138f9 100644 --- a/config/horizon.yaml +++ b/config/horizon.yaml @@ -3,7 +3,7 @@ common: imu_topic: "/livox/imu" preprocess: - lidar_type: 1 # Livox Avia LiDAR + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, scan_line: 6 blind: 1 diff --git a/config/ouster64.yaml b/config/ouster64.yaml index 98598b86..aef4b7ff 100644 --- a/config/ouster64.yaml +++ b/config/ouster64.yaml @@ -3,7 +3,7 @@ common: imu_topic: "/os_cloud_node/imu" preprocess: - lidar_type: 3 # Ouster2-64 LiDAR + lidar_type: 3 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, scan_line: 64 blind: 1 diff --git a/config/velodyne.yaml b/config/velodyne.yaml index 974fb4ed..2e77bbd6 100644 --- a/config/velodyne.yaml +++ b/config/velodyne.yaml @@ -3,7 +3,7 @@ common: imu_topic: "/imu/data" preprocess: - lidar_type: 2 # VLP-16 LiDAR + lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, scan_line: 32 blind: 4 diff --git a/launch/mapping_horizon.launch b/launch/mapping_horizon.launch index e6b2aa98..a61845d5 100644 --- a/launch/mapping_horizon.launch +++ b/launch/mapping_horizon.launch @@ -8,7 +8,7 @@ - + diff --git a/launch/mapping_ouster64.launch b/launch/mapping_ouster64.launch index 39692737..598cbbd1 100644 --- a/launch/mapping_ouster64.launch +++ b/launch/mapping_ouster64.launch @@ -5,13 +5,13 @@ - - - + + + - +