Run FAST-LIO with mid-360

Issue

Tasks

Set up hardware and software for running
Generate PCD file from mapping result

Software & Hardware Setup

Software Setup

Refer to this link for project repo Git Link

Pre-req:

Ubuntu >= 16.04

Ubuntu 18.04 or higher, the default PCL and Eigen is enough

livox_ros_driver Git Link (dependency for Fast Lio)

Install Livox-SDK Git Link

livox_ros_driver2 Git Link (dependency for mid-360 LiDAR)

Install Livox-SDK2 Git Link

Build FAST-LIO from source:

cd ~/$A_ROS_DIR$/src
git clone https://github.com/hku-mars/FAST_LIO.git
cd FAST_LIO
git submodule update --init
cd ../..
catkin_make
source devel/setup.bash

comment: Remember to source the livox_ros_driver

Necessary source command to have in ~/.bashrc:

source /opt/ros/noetic/setup.bash

source /path/to/ws_livox/devel/setup.bash

source /path/to/catkin_ws/devel/setup.bash

Hardware Setup

Refer to this quick start manual Doc Link

Static Method ip Setting

in the network setting, open the gear for more configuration

Configure the IPv4 setting

select manual option
set the Address/Netmask/Gateway
Click apply

Make physical connection

connect ethernet port
connect power cable

Good Practice to Restart Network Service

sudo service network-manager restart

Verify Data Reception

execute the shell script to find the right network

for i in {100..199}; do
(
        if ping -c 1 -W 1 192.168.1.$i > /dev/null 2>&1; then
        echo "192.168.1.$i is up"
        else
        echo "192.168.1.$i is down"
        fi
) &
done
wait

ping 192.168.1.158 (your lidar ip address found)

Test Runs

launch sample FAST-LIO test:

sample livox-360 rosbag file: Drive Link

[terminal 1]

rosbag play -l <path to bag file>

[terminal 2]

roslaunch fast_lio mapping_mid360.launch

Run mid-360 with FAST-LIO:

set ip address in config

in /path/to/ws_livox/src/livox_ros_driver2/config/MID360_config.json

set all ip terms within host_net_info to your host ip
set ip term within lidar_configs to your lidar ip

Launch rviz to inspect data reception

roslaunch livox_ros_driver2 rviz_MID360.launch

Launch mid-360 with FAST-LIO

Run livox ros driver2 to publish pointcloud

roslaunch livox_ros_driver2 msg_MID360.launch

Run FAST-LIO to read data

roslaunch fast_lio mapping_mid360.launch