This file uses external coordinate conversion and lidar format conversion to convert the M2DGR-plus lidar and IMU to a coordinate system. Adds timestamps and ring information to the lidar data to transform /rslidar_points
into /velodyne_points
format.
Tested with Ubuntu 20.04 and ROS Noetic.ROS Installation.
Tested with Eigen 3.3.7.Eigen Installation.
Tested with PCL 1.10 comes with ROS Noetic.PCL installation.
Tested with OpenCV 4.2.0 comes with ROS Noetic.OpenCV installation.
Sophus Installation for the non-templated/double-only version.
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build && cd build && cmake ..
make
sudo make install
Because need to install livox_ros_driver, install the livox SDK first.
git clone https://github.com/Livox-SDK/Livox-SDK.git
cd Livox-SDK
cd build && cmake ..
make
sudo make install
cd ~/catkin_ws/src
git clone https://github.com/sjtuyinjie/M2DGR-Benchmark.git && cd M2DGR-Benchmark && git sparse-checkout set --no-cone FAST_livo_M2DGRP
cd ../..
catkin_make
source devel/setup.bash
roslaunch fast_livo mapping_m2dgr.launch
rosbag play door_02.bag
source devel/setup.bash
roslaunch fast_livo mapping_m2dgr_plus.launch
//imu coordinate conversion
source devel/setup.bash
roslaunch imu_transformer ned_to_enu.launch
//lidar format conversion
source devel/setup.bash
rosrun rs_to_velodyne rs_to_velodyne m2dgrplus XYZIRT
rosbag play anomaly.bag --topic /rslidar_points /camera/color/image_raw /camera/imu