Gazebo+PX4+ROS2+Fast-LIO2+SUPER框架介绍

Gazebo实现PX4+LiDAR仿真

参考此篇博客1

Fast-LIO2的ROS2版编译

安装Livox SDK，博客2
编译Fast-LIO2，git clone <hku-mars的Fast-LIO>--recursive，切换分支到ROS2，git checkout ROS2
先source /opt/ros/humble/setup.bash或setup.zsh
修改config/velodyne.yaml

yaml 复制代码

        common:
            lid_topic:  "/mid360_lidar/points"
            imu_topic:  "/world/hongqiaooffice/model/x500_mid360_0/link/base_link/sensor/imu_sensor/imu"

编译，

bash 复制代码

    cd <ros2_ws>/src # cd into a ros2 workspace folder
    git clone https://github.com/hku-mars/FAST_LIO.git --recursive
    cd ..
    rosdep install --from-paths src --ignore-src -y
    colcon build --symlink-install
    source ./install/setup.bash # use setup.zsh if use zsh

运行，

bash 复制代码

 ros2 launch fast_lio mapping.launch.py config_file:=velodyne_software.yaml

SUPER编译与测试

参考https://github.com/hku-mars/SUPER

bash 复制代码

mkdir -p super_ws/src && cd super_ws/src
git clone https://github.com/hku-mars/SUPER.git
cd ..
colcon build --symlink-install
# add to debug:  --event-handlers console_direct+

仿真测试问题，

下一篇，介绍如何将仿真数据与SUPER集成。