自己基于livox mid40跑FAST-LIO2 20220921

自己基于livox mid40跑FAST-LIO2

livox mid40没有内置IMU，所以，用飞控IMU，订阅/mavros/imu/data话题即可

avia.yaml里面，imu_topic改为 /mavros/imu/data ，time_sync_en需要改为true，默认是false，如果是用livox自己的Imu是可以是false，如果不是，得改为true，不然fast-lio2跑不起来，一直有警告(现在清楚为什么了，外置的IMU可能存在时间戳同步的问题，livox内置的IMU跟你做好了时间戳同步，所以time_sync_en可以为false，不需要在软件层面再去做同步)

改好的avia.yaml内容

common:
    lid_topic:  "/livox/lidar"
    imu_topic:  "/mavros/imu/data"
    time_sync_en: true         # ONLY turn on when external time synchronization is really not possible
​
preprocess:
    lidar_type: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
    scan_line: 6
    blind: 4
​
mapping:
    acc_cov: 0.1
    gyr_cov: 0.1
    b_acc_cov: 0.0001
    b_gyr_cov: 0.0001
    fov_degree:    90
    det_range:     450.0
    extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic
    extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
    extrinsic_R: [ 1, 0, 0,
                   0, 1, 0,
                   0, 0, 1]
​
publish:
    path_en:  false
    scan_publish_en:  true       # false: close all the point cloud output
    dense_publish_en: true       # false: low down the points number in a global-frame point clouds scan.
    scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame
​
pcd_save:
    pcd_save_en: true
    interval: -1                 # how many LiDAR frames saved in each pcd file; 
                                 # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

​

启动命令是（前提是把avia.yaml改好了）

roslaunch livox_ros_driver livox_lidar_msg.launch   注意起这个launch文件，才能发出fastlio需要的点云话题类型
roslaunch fast_lio mapping_avia.launch