FASTLIO2 ROS2

• for velodyne or other pointcloud users.

• you dont need livox-related packages!!

• Topics

• Prerequisites

• How to Use

• Acknowledgments

Development Environment

Component	Version
OS	Ubuntu 22.04
ROS	Humble Hawksbill
Eigen3	3.4.0
Lidar	Velodyne-VLP16
IMU	Xsens MTi-610

Prerequisites

pcl
Eigen
sophus
gtsam(optional for LC)

sudo apt install libpcap-dev libpcl* pcl-tools ros-humble-pcl-ros -y
sudo apt install ros-humble-gtsam -y

ros-humble-gtsam-dbgsym(optional)

Check your version

eigen

pkg-config --modversion eigen3

gtsam (select one)

gtsam_version
pkg-config --modversion gtsam

Install Sophus

cd
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout 1.22.10
mkdir build && cd build
cmake .. -DSOPHUS_USE_BASIC_LOGGING=ON
make
sudo make install

How to Use

1. FAST-LIO2

ros2 launch fastlio2 lio_launch.py

2. PGO

ros2 launch pgo pgo_launch.py

3. Save Map

ros2 service call /pgo/save_maps interface/srv/SaveMaps "{file_path: 'your_save_dir', save_patches: true}"

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4. Odometry + Relocalization

1. Launch the Relocalization Node

ros2 launch localizer localizer_launch.py
ros2 bag play your_bag_file // optional

2. Set Initial Relocalization Values

ros2 service call /localizer/relocalize interface/srv/Relocalize "{"pcd_path": "your_map.pcd", "x": 0.0, "y": 0.0, "z": 0.0, "yaw": 0.0, "pitch": 0.0, "roll": 0.0}"

3. Check Relocalization Result

ros2 service call /localizer/relocalize_check interface/srv/IsValid "{"code": 0}"

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5. Consistent Map Optimization

1. Launch the Map Optimization Node

ros2 launch hba hba_launch.py

2. Call the Optimization Service

ros2 service call /hba/refine_map interface/srv/RefineMap "{"maps_path": "your maps directory"}"

Note: If you plan to call the optimization service, you must set save_patches to true when saving the map.

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Acknowledgments

1. FASTLIO2
2. BLAM
3. HBA

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Performance Notes

This code mainly uses timerCB to trigger the main function at a fixed frequency. In ROS2, timer, subscriber, and service callbacks are executed in the same thread. On machines with limited performance, this can cause blocking issues. To improve performance, it is recommended to use multithreading so that time-consuming callbacks (e.g., timerCB) run in a separate thread.