定位算法启动流程

工作空间humble_ws

一、安装定位激光驱动

https://github.com/RoboSense-LiDAR/rslidar_sdk/

cd ~/humble_ws/src

将rslidar_sdk和rslidar_msg包git到src目录下

git clone https://github.com/bluespace-ai/bluespace_ai_xsens_ros_mti_driver.git

git clone https://github.com/RoboSense-LiDAR/rslidar_msg.git

修改rslidar_sdk

1、修改cmakelist

#=======================================
# Compile setup (ORIGINAL,CATKIN,COLCON)
#=======================================
set(COMPILE_METHOD COLCON)

2、将rslidar_sdk包中package_ros2.xml 重新命名为 package.xml

3、修改配置参数

修改配置文件~/humble_ws/src/rslidar_sdk/config/config.yaml

lidar:
  - driver:
      lidar_type: RSHELIOS //这个改成对应的雷达版本。

编译：

cd ~humble_ws

colcon build

二、安装IMU驱动

cd ~/humble_ws/src

git clone GitHub - bluespace-ai/bluespace_ai_xsens_ros_mti_driver: xsens ros2 driver

cd bluespace_ai_xsens_ros_mti_driver/lib/xspublic

make

cd ~/humble_ws

colcon build

source install/setup.bash

将驱动源码全部放在同一个工作空间

 编译成功

启动流程

1、启动激光雷达驱动

ros2 launch rslidar_sdk start.py

2、启动IMU驱动

ros2 launch bluespace_ai_xsens_mti_driver xsens_mti_node.launch.py

3、启动程序

ros2 launch lio_sam run.launch.py