LIDAR only autonomous flight

Our code stack also supports LIDAR-IMU sensing mode (i.e. no cameras needed).

We integrated Faster-LIO with our autonomy stack. It has been tested on our Falcon 4 quadrotor equipped with an Ouster OS1-64 LIDAR.

You will need to use the feature/integrate_lidar branch of this repository. Remember to import the Faster-LIO package into your workspace by:

cd ~/catkin_ws/src/kr_autonomous_flight
vcs import < external_lidar_odometry.yaml

Thank Jiuzhou Lei, Derek Cheng, and Ankit Prabhu for their contributions to this feature!