Introduction

The FAST_LIO reproduction via Unitree L1 RM Lidar

Environment Prequest

System

Test on: Ubuntu-20.04 and ROS-Noetic

PCL Version >= 1.8

In my Ubuntu 20.04 machine, I downloaded and compiled the PCL 1.14 source code, it works fine.

Note

The version meaning 1.8 requested by FAST_LIO seems a little different from the source code version 1.14

You can check the PCL version via the command ldconfig -p | grep pcl

Eigen Version>=3.3.4

In my Ubuntu 20.04 machine, I use the Eigen 3.3.7-2 version, and it works.

You can check the Eigen version via the command dpkg -s libeigen3-dev | grep Version

If you have already satisfied the Eigen lib request, just ignore it. But if you haven't installed Eigen lib on your machine, check this :Eigen 3.4

Reproduction

After cloning the unitree-fast-lio repo, make sure the unitree lidar is already connected to your machine.

run:

cd <path2unitree-fast-lio>
catkin_make
source ./devel/setup.bash
roslaunch fast_lio mapping_unilidar_l1.launch

Acknowledge

Thanks for the members of HKU-Mars open source this wonderful robotics perception project!

Thanks for the Unitree official usage guidance!

Tip

Feel free to create issues!