docs: update usage of fast-livo2 slam method on ros2go

tianbot · Jan 25, 2025 · 71acf98 · 71acf98
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diff --git a/docs/.vitepress/config/sidebar.ts b/docs/.vitepress/config/sidebar.ts
@@ -228,6 +228,7 @@ export const sidebar: DefaultTheme.Config['sidebar'] = {
                       { text: 'LIO-SAM 演示例程', link: '/advanced/lidar_slam/lio-sam' },
                       { text: 'LVI-SAM 演示例程', link: '/advanced/lidar_slam/liv-sam' },
                       { text: 'R3LIVE 演示例程', link: '/advanced/lidar_slam/r3live' },
+                      { text: 'FAST-LIVO2 演示例程', link: '/advanced/lidar_slam/fast-livo2' },
                     ],
                   },
                 ],

diff --git a/docs/advanced/lidar_slam/fast-livo2.md b/docs/advanced/lidar_slam/fast-livo2.md
@@ -0,0 +1,103 @@
+# Fast-LIVO2
+
+![](https://mirror.ghproxy.com/https://github.com/hku-mars/FAST-LIVO2/raw/main/pics/Framework.png)
+
+`FAST-LVIO2`于 2025 年 1 月 23 日开发源代码，感谢郑博的工作，`FAST-LIVO2` 是一种高效、准确的 激光 - 惯性 - 视觉融合定位和测绘系统，在严重恶化的环境中表现出实时 3D 重建和机载机器人定位的巨大潜力。
+
+## 相关链接
+- [代码地址](https://github.com/hku-mars/FAST-LIVO2)
+- [论文地址](https://arxiv.org/abs/2408.14035)
+- [数据集地址](https://connecthkuhk-my.sharepoint.com/:f:/g/personal/zhengcr_connect_hku_hk/ErdFNQtjMxZOorYKDTtK4ugBkogXfq1OfDm90GECouuIQA?e=KngY9Z)
+
+
+## 在 ROS2GO 上安装
+
+本次测试版本为 `20.04版本`的 ROS2GO，其他版本各位同学可自行测试。
+
+### 1. 创建工作空间
+
+```bash
+mkdir -p ~/fast_ws/src
+cd ~/fast_ws/src && git clone https://mirror.ghproxy.com/https://github.com/hku-mars/FAST-LIVO2.git
+```
+
+### 2. 安装依赖
+
+除了 ROS2GO 本身已有的依赖，还需要安装的依赖有：`Sophus`、`livox_ros_driver`、`Vikit`、`Mimalloc (optional,可以不安装)`
+#### Sophus
+
+- 拉取代码
+
+```bash
+cd ~/fast_ws/src && git clone https://mirror.ghproxy.com/https://github.com/strasdat/Sophus.git
+cd Sophus && git checkout a621ff
+mkdir build install && cd build
+cmake -DCMAKE_INSTALL_PREFIX=../install .. && make -j4 && make install
+```
+- 手动设置依赖项路径
+
+修改`~/fast_ws/src/FAST-LIVO2/CMakeLists.txt`中 `Sophus` 的路径，第 103~104 行修改为如下
+
+```cmake
+find_package(Sophus REQUIRED)
+find_package(Boost REQUIRED COMPONENTS thread)
+
+# 103~104
+set(Sophus_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../../Sophus/install/include/)
+set(Sophus_LIBRARIES ${CMAKE_CURRENT_SOURCE_DIR}/../Sophus/install/lib/libSophus.so)
+```
+
+#### livox_ros_driver
+
+- 拉取代码
+```bash
+cd ~/fast_ws/src && git clone https://mirror.ghproxy.com/https://github.com/Livox-SDK/livox_ros_driver.git
+```
+
+#### Vikit
+
+- 拉取代码
+```bash
+cd ~/fast_ws/src && git clone https://mirror.ghproxy.com/https://github.com/xuankuzcr/rpg_vikit.git
+```
+- 手动设置依赖项路径
+
+同样修改`~/fast_ws/src/rpg_vikit/vikit_common/CMakeLists.txt`中 `Sophus` 的路径，第 34~35 行修改为如下
+
+```cmake
+find_package(Sophus REQUIRED)
+find_package(Boost REQUIRED COMPONENTS thread)
+
+## 34~35 添加如下内容
+set(Sophus_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../../Sophus/install/include/)
+set(Sophus_LIBRARIES ${CMAKE_CURRENT_SOURCE_DIR}/../../Sophus/install/lib/libSophus.so)
+```
+
+### 编译
+
+如果遇到`.......needed by libSophus.so.....`的错误，可以尝试如下命令
+
+```bash
+cd ~/fast_ws && export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/tianbot/fast_ws/src/Sophus/install/lib/ && catkin_make
+```
+
+### 运行
+
+- 运行数据集
+```bash
+rosbag play Retail_Street.bag --clock --pause
+```
+
+- 运行 fast-lvio2
+```bash
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/tianbot/fast_ws/src/Sophus/install/lib/
+source ~/fast_ws/devel/setup.bash
+roslaunch fast_livo mapping_avia.launch
+```
+
+### 测试效果
+
+本次测试效果如下，其他数据集请同学自行尝试哈
+
+- Retail_Street
+![](https://tianbot-pic.oss-cn-beijing.aliyuncs.com/tianbot-pic/Tianbot-Docfast-livo2.png)