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Noted: Ubuntu 16.04 and lower is not supported

Trolley_relocalization

this is a simple localization script for a gargener trolley to weed based on a livox_avia lidar.

Thanks for the FAST_LIO and the livox_relocalization. This program is based on this two project.

Developers

Wen Yang from SUSTECH ISEE Lab.

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 18.04 (Ubuntu 16.04 is not supported)

ROS >= Melodic. ROS Installation

1.2. PCL && Eigen && openCV

PCL >= 1.8, Follow PCL Installation.

Eigen >= 3.3.4, Follow Eigen Installation.

OpenCV >= 3.2, Follow openCV Installation.

1.3. livox_ros_driver

Follow livox_ros_driver Installation.

2. Build

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone ...
    cd ..
    catkin_make
    source devel/setup.bash

Remarks:

  • If you want to use a custom build of PCL, add the following line to ~/.bashrc export PCL_ROOT={CUSTOM_PCL_PATH}

6.Acknowledgments

Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), Livox_Mapping and Loam_Livox.