使用ros2跑mid360的fastlio2建图

fastlio2出了对应的ROS2对应的建图

1.跑通mid360驱动包

可以看我以前的文章教程：https://blog.csdn.net/2301_79618994/article/details/157222625?spm=1001.2014.3001.5501

2.跑通faslio2算法包

在src下面可以git clone

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git clone -b ros2 https://github.com/Ericsii/FAST_LIO.git --recursive

或者下载了代码可以使用git切换

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git clone https://github.com/hku-mars/FAST_LIO.git
cd FAST_LIO
git checkout ros2
git submodule update --init --recursive   # 保证依赖也同步

如果你直接colcon build 可能会导致编译报错

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以下是报错：
core for MP: 3
CMake Warning (dev) at CMakeLists.txt:81 (find_package):
  Policy CMP0074 is not set: find_package uses <PackageName>_ROOT variables.
  Run "cmake --help-policy CMP0074" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  CMake variable PCL_ROOT is set to:

    /usr

  For compatibility, CMake is ignoring the variable.
This warning is for project developers.  Use -Wno-dev to suppress it.

Eigen:/usr/include/eigen3
CMake Error at CMakeLists.txt:95 (add_executable):
  Cannot find source file:

    include/ikd-Tree/ikd_Tree.cpp

  Tried extensions .c .C .c++ .cc .cpp .cxx .cu .mpp .m .M .mm .ixx .cppm .h
  .hh .h++ .hm .hpp .hxx .in .txx .f .F .for .f77 .f90 .f95 .f03 .hip .ispc


CMake Error at CMakeLists.txt:95 (add_executable):
  No SOURCES given to target: fastlio_mapping

也就是找不到/ikd-Tree/ikd_Tree.cpp，可能你在看代码的时候，没有这个文件，可以更新模块下载或者单独下载来去放到对应文件夹

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git clone https://github.com/hku-mars/ikd-Tree.git

3.编译运行

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cd /home/af/test2
colcon build

ros2 launch fast_lio mapping.launch.py

编译之后就是，打开终端运行

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cd /home/af/test2
source install/setup.bash
ros2 launch livox_ros_driver2 msg_MID360_launch.py

再打开一个终端

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cd /home/af/test2
source  install/setup.bash
ros2 launch fast_lio mapping.launch.py

然后就是完成fastlio2建图了，一开始的rviz黑屏，注意那不是黑屏，你把rviz放大就可以看见了，然后add一个grid，就和之前的一样了