ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged faster_lio at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged faster_lio at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged faster_lio at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged faster_lio at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged faster_lio at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged faster_lio at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged faster_lio at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged faster_lio at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Robomaster-2024-XDU-IRobot-哨兵导航仓库 |
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics navigation |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]