livox_laser_simulation for ROS2

Tested in ros2 foxy and humble.

In this simulation project, Livox series lidars will publish two types of messages:

livox_ros_driver2/msg/CustomMsg
sensor_msgs/msg/PointCloud2

Therefore, by subscribing to the CustomMsg message, you can use the FAST_LIO algorithm in the your simulation.

Install

Clone this repo in your ros2 workspace

git clone https://github.com/LihanChen2004/livox_laser_simulation_ros2.git

Follow livox_ros_driver2 Installation
build your ros2 workspace (if there are warnings that do not allow the compilation, run the build again and you will see that the error disappears)
```
colcon build && source install/setup.bash
```

include the lidar sensor in your URDF file, for example:

<xacro:include filename="$(find ros2_livox_simulation)/urdf/mid70.xacro" />

PB_RMSimulation

ROS2-Gazebo simulation package for RoboMaster University Championship

You can use FAST_LIO by taking it as an example :)