香橙派上进行 Livox Mid-360 激光雷达开发（二）移植FAST_LIO

基本信息

主机：Orangepi5max 16G （ARM64 架构） + 64G tf卡
系统：Orangepi5max_1.0.0_ubuntu_jammy_desktop_xfce_linux5.10.160（ubuntu 22.04）
系统配置说明：已经使用fishros安装ROS Humble、rosdepc；livox_ros_driver2已经跑通

参考资料

https://github.com/Ericsii/FAST_LIO_ROS2?tab=readme-ov-file
https://github.com/hku-mars/ikd-Tree/tree/e2e3f4e9d3b95a9e66b1ba83dc98d4a05ed8a3c4

环境配置

为避免冲突，新建工作空间~/ws_fastlio2

参考香橙派上进行 Livox Mid-360 激光雷达开发（一）基本环境配置的操作，在新的工作空间内安装livox_ros_driver2

安装PCL && Eigen

• PCL >= 1.8, Follow PCL Installation.

sudo apt install libpcl-dev

• Eigen >= 3.3.4, Follow Eigen Installation.

# 更新源（香橙派ARM架构需确保源正常）
sudo apt update && sudo apt upgrade -y

# 安装Eigen3（ARM64架构适配）
sudo apt install -y libeigen3-dev

# 验证版本（关键：确认ARM下版本达标）
cat /usr/include/eigen3/Eigen/src/Core/util/Macros.h | grep -E "EIGEN_(WORLD|MAJOR|MINOR)_VERSION"

FAST_LIO_ROS2

cd ~/ws_fastlio2/src,下载并解压参考资料，将文件夹修改为fast_lio，将iKd-Tree文件夹文件整个放入~/ws_fastlio2/src/fast_lio/include中

cd ~/ws_fastlio2
rm -rf ~/ws_livox/src/FAST_LIO/livox_ros_driver2
sudo apt-get install -y libpcl-dev libeigen3-dev lib fmt-dev libyaml-cpp-dev

cd ~/ws_fastlio2
source /opt/ros/humble/setup.sh
./build.sh humble

验证安装

source install/setup.bash
ros2 pkg list | grep -E "livox|fast"
# 应该显示:
# fast_lio
# livox_ros_driver2

运行

终端1

cd ~/ws_fastlio2
./install/setup.bash # use setup.zsh if use zsh
ros2 launch livox_ros_driver2 msg_MID360_launch.py

终端2

cd ~/ws_fastlio2
./install/setup.bash # use setup.zsh if use zsh
ros2 launch fast_lio mapping.launch.py

或者

cd ~/ws_fastlio2
./install/setup.bash # use setup.zsh if use zsh
ros2 launch fast_lio mapping.launch.py config_file:=mid360.yaml