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mid360雷达_IMU校准

环境为：ubuntu20.04;ROS1 noetic

  1. 安装Livox-SDK2 1.1. 安装CMake
sudo apt install cmake

1.2. 安装编译Livox-SDK2

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build && cd build
cmake .. && make -j
sudo make install
  1. 下载livox_ros_driver2源码
git clone https://github.com/Livox-SDK/livox_ros_driver2.git
cd livox_ros_driver2
./build.sh ROS1
  1. 下载FAST_LIO源码
    git clone https://github.com/hku-mars/FAST_LIO.git
    cd FAST_LIO
    git submodule update --init
    cd ../..
    catkin_make
    source devel/setup.bash

  1. source devel/setup.bash

  2. 运行达妙imu的功能包 roslaunch dm_imu run_without_rviz.launch

  3. 运行imu脚本 bash sh/imu.sh

  4. source devel/setup.bash

  5. 运行雷达驱动功能包 roslaunch livox_ros_driver2 msg_MID360.launch

  6. source devel/setup.bash

  7. 运行 roslaunch lidar_imu_init livox_mid360.launch

  8. 运行 bash extract_marix.sh