FAST_LIO_LC

The code in this repo only modifies the parameters based on FAST_LIO_LC to make it suitable for mid-360, and added the file fastlio_livox.launch.

Tips

1.gtsam and Ceres Version

FAST-LIO does not use gtsam and Ceres, but the backend optimization library used by this Project relies on GTSAM and Ceres;

Recommended gtsam 4.0.2(or 4.0.0-alpha2) and Ceres 1.14.0, I tried gtsam4.0.3, but still got an error.

When installing gtsam, use cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF .. to compile.

In long-term use, if an error occurs when recompiling FAST_LIO_LC, you can recompile gtsam and Ceres.

mkdir build && cd build
# For Ubuntu 22.04, add -DGTSAM_USE_SYSTEM_EIGEN=ON
cmake .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
         -DGTSAM_BUILD_TESTS=OFF \
         -DGTSAM_WITH_TBB=OFF \
         -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF
make -j$(nproc)
sudo make install

# Install Ceres
mkdir ceres-solver/build && cd ceres-solver/build
cmake .. -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DUSE_CUDA=OFF
make -j$(nproc)
sudo make install

2.livox_ros_driver Problem

• Put livox_ros_driver and FAST_LIO_LC under the same src;
• Or Before compiling FAST_LIO_LC, source the workspace of livox_ros_driver first, like this:

3.Release Mode

• Add to FAST-LIO/CMakeLists.txt: SET(CMAKE_BUILD_TYPE "Release")
• Or Use directly: catkin_make -DCMAKE_BUILD_TYPE=Release

4.Correction Parameters

4.1 Before using FAST_LIO_LC, you need to modify the parameters of the radar like FAST_LIO, for example, I am using mid-360 and I need to modify FAST_LIO_LC/FAST-LIO/config/avia.yaml.

Before:

After:

4.2 Set up saved map

You need to change <param name="pcd_save_enable" type="bool" value="0" /> to <param name="pcd_save_enable" type="bool" value="1" /> in mapping_avia.launch before it can be saved. The final PCD file of the map.

5.The trajectory of dynamic objects on the map

Reference：yanliang-wang/FAST_LIO_LC#22

I posted an issue on the FAST_LIO_LC repo, but I haven’t found the specific reason yet.

Video

RUN

source devel/setup.bash 
roslaunch fast_lio mapping_avia.launch
source devel/setup.bash 
roslaunch aloam_velodyne fastlio_livox.launch
# rosbag play xxx.rosbag or roslaunch xxx_driver

The following error is normal:

If a loop is detected and passed successfully, the following will be displayed:

Reference

• https://github.com/hku-mars/FAST_LIO

• https://github.com/yanliang-wang/FAST_LIO_LC