FAST_LIO_GPS

About FAST_LIO_GPS

this is a modified version of FAST-LIO2 and SC-PGO, With the help of gps, We can obtain map with UTM coordinate. So, using global map , Vehicle navigation can run in the world coordinate system

News

Features

• directly mapping in UTM Coordinate system
• need gps-->lidar extrinsic_T and extrinsic_R

Prerequisites

• Ubuntu and ROS Ubuntu >= 18.04 ROS >= Melodic. ROS Installation

• build

    cd ~/$A_ROS_DIR$/src
    git clone https://github.com/jxx315/FAST_LIO_GPS.git
    cd ..
    catkin_make
    source devel/setup.bash

• how to use

    source devel/setup.bash
    roslaunch fast_lio mapping_rs32.launch

    source devel/setup.bash
    roslaunch aloam_velodyne fastlio_rs32_gps.launch

• save pcd

rosservice call /opt/save_map "utm: false
resolution: 0.0
destination: ''" 

TODO

• clean up the code
• using low cost Single antenna gps&RTK for global localization