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class="c25 c40 doc-content"><p class="c10 c12 title" id="h.t3c8rkt9d0ic"><span class="c27 c21 c36">Run FAST-LIO with mid-360</span></p><p class="c6 c10"><span class="c5"></span></p><h2 class="c38 c10" id="h.qf1ncaimrtyi"><span class="c14">Issue</span></h2><ul class="c16 lst-kix_saotishqg65c-0 start"><li class="c6 c10 c11 c13 li-bullet-0"><span class="c5"></span></li></ul><h2 class="c38 c10" id="h.hmv8zwwgwshv"><span class="c14">Tasks</span></h2><ul class="c16 lst-kix_gs48n4l5n8w9-0 start"><li class="c15 c10 c11 c13 c30 li-bullet-0"><span class="c5">Set up hardware and software for running</span></li><li class="c15 c10 c11 c13 c30 li-bullet-0"><span class="c5">Generate PCD file from mapping result </span></li></ul><h2 class="c10 c38" id="h.qbc34wsjbshd"><span class="c14">Software & Hardware Setup</span></h2><h3 class="c34 c10" id="h.mmhbwp6kmqn5"><span class="c33 c21">Software Setup</span></h3><p class="c6 c10"><span class="c5"></span></p><p class="c6 c10"><span class="c5"></span></p><p class="c15 c10"><span class="c4">Refer to this link for project repo</span><span> </span><span class="c0"><a class="c8" href="https://www.google.com/url?q=https://github.com/hku-mars/FAST_LIO&sa=D&source=editors&ust=1703996839451854&usg=AOvVaw0OnH3um0FOLgXguEZas_Ay">Git Link</a></span></p><p class="c6 c10"><span class="c5"></span></p><p class="c15 c10"><span class="c20 c4 c21">Pre-req:</span></p><ul class="c16 lst-kix_n20jr0kz6hl7-0 start"><li class="c10 c11 c13 c15 li-bullet-0"><span class="c5">Ubuntu >= 16.04</span></li></ul><p class="c15 c10 c39"><span class="c5">Ubuntu 18.04 or higher, the default PCL and Eigen is enough </span></p><ul class="c16 lst-kix_psyo41s11f80-0 start"><li class="c15 c10 c11 c13 li-bullet-0"><span>livox_ros_driver </span><span class="c0"><a class="c8" href="https://www.google.com/url?q=https://github.com/Livox-SDK/livox_ros_driver&sa=D&source=editors&ust=1703996839452678&usg=AOvVaw2zKumP9QFm9EWFlawbHzQ5">Git Link</a></span><span class="c5"> (dependency for Fast Lio)</span></li></ul><ul class="c16 lst-kix_psyo41s11f80-1 start"><li class="c3 li-bullet-0"><span>Install Livox-SDK </span><span class="c0"><a class="c8" href="https://www.google.com/url?q=https://github.com/Livox-SDK/Livox-SDK&sa=D&source=editors&ust=1703996839453172&usg=AOvVaw2Mmz85l4rdmNXd72p2H_2L">Git Link</a></span></li></ul><ul class="c16 lst-kix_psyo41s11f80-0"><li class="c15 c10 c11 c13 li-bullet-0"><span>livox_ros_driver2 </span><span class="c0"><a class="c8" href="https://www.google.com/url?q=https://github.com/Livox-SDK/livox_ros_driver2&sa=D&source=editors&ust=1703996839453549&usg=AOvVaw3W5Wb533WTiTj9PI8xEzVe">Git Link</a></span><span class="c5"> (dependency for mid-360 LiDAR)</span></li></ul><ul class="c16 lst-kix_psyo41s11f80-1 start"><li class="c3 li-bullet-0"><span>Install Livox-SDK2 </span><span class="c0"><a class="c8" href="https://www.google.com/url?q=https://github.com/Livox-SDK/Livox-SDK2/blob/master/README.md&sa=D&source=editors&ust=1703996839453874&usg=AOvVaw3C9lu-sViOrI2z3e-FMtkm">Git Link</a></span></li></ul><p class="c6 c10"><span class="c20 c4 c21"></span></p><p class="c15 c10"><span class="c20 c4 c21">Build FAST-LIO from source: </span></p><p class="c15"><span class="c1"> </span><span class="c1 c29">cd</span><span class="c1"> ~/</span><span class="c1 c23">$A_ROS_DIR</span><span class="c1">$/src<br> git </span><span class="c1 c29">clone</span><span class="c1"> https://github.com/hku-mars/FAST_LIO.git<br> </span><span class="c1 c29">cd</span><span class="c1"> FAST_LIO<br> git submodule update --init<br> </span><span class="c1 c29">cd</span><span class="c1"> ../..<br> catkin_make<br> </span><span class="c1 c29">source</span><span class="c1 c20"> devel/setup.bash</span></p><p class="c15"><span class="c20 c1">comment: Remember to source the livox_ros_driver</span></p><p class="c6"><span class="c20 c1"></span></p><p class="c15"><span class="c20 c4 c31 c25">Necessary source command to have in ~/.bashrc:</span></p><p class="c15"><span class="c4 c25 c31"> </span><span class="c1"> </span><span class="c1 c29">source</span><span class="c20 c1"> /opt/ros/noetic/setup.bash</span></p><p class="c15"><span class="c1"> </span><span class="c1 c29">source</span><span class="c20 c1"> /path/to/ws_livox/devel/setup.bash</span></p><p class="c15"><span class="c1"> </span><span class="c1 c29">source</span><span class="c20 c1"> /path/to/catkin_ws/devel/setup.bash</span></p><h3 class="c34" id="h.m6uux9vmnac7"><span class="c21 c33">Hardware Setup</span></h3><p class="c6 c10"><span class="c5"></span></p><p class="c6 c10"><span class="c5"></span></p><p class="c2"><span class="c4">Refer to this quick start manual</span><span> </span><span class="c0"><a class="c8" href="https://www.google.com/url?q=https://drive.google.com/file/d/1GA1wDOWol3e8aos5m0y8kg5gtqnIrjA_/view?usp%3Ddrive_link&sa=D&source=editors&ust=1703996839455801&usg=AOvVaw26OcLe2BhudxMdS_oso7ml">Doc Link</a></span></p><p class="c2"><span class="c20 c4 c21">Static Method ip Setting</span></p><ul class="c16 lst-kix_36r1lrg938jn-0 start"><li class="c2 c11 c13 li-bullet-0"><span class="c5">in the network setting, open the gear for more configuration</span></li></ul><p class="c2"><span style="overflow: hidden; display: inline-block; margin: 0.00px 0.00px; border: 0.00px solid #000000; transform: rotate(0.00rad) translateZ(0px); -webkit-transform: rotate(0.00rad) translateZ(0px); width: 587.00px; height: 216.00px;"><img alt="" src="images/image1.png" style="width: 587.00px; height: 216.00px; margin-left: 0.00px; margin-top: 0.00px; transform: rotate(0.00rad) translateZ(0px); -webkit-transform: rotate(0.00rad) translateZ(0px);" title=""></span></p><p class="c2 c11 c22"><span class="c5"></span></p><ul class="c16 lst-kix_d8kteykixckq-0 start"><li class="c2 c11 c13 li-bullet-0"><span class="c20 c4 c21">Configure the IPv4 setting </span></li></ul><ol class="c16 lst-kix_x0n3ca5u9qvj-0 start" start="1"><li class="c2 c13 c32 li-bullet-0"><span class="c5">select manual option</span></li><li class="c2 c13 c32 li-bullet-0"><span class="c5">set the Address/Netmask/Gateway</span></li><li class="c2 c13 c32 li-bullet-0"><span class="c5">Click apply</span></li></ol><p class="c2 c22"><span class="c5"></span></p><p class="c2 c22"><span class="c5"></span></p><a id="kix.f996qed2jr3f"></a><p class="c2"><span style="overflow: hidden; display: inline-block; margin: 0.00px 0.00px; border: 0.00px solid #000000; transform: rotate(0.00rad) translateZ(0px); -webkit-transform: rotate(0.00rad) translateZ(0px); width: 587.00px; height: 368.00px;"><img alt="" src="images/image3.png" style="width: 587.00px; height: 368.00px; margin-left: 0.00px; margin-top: 0.00px; transform: rotate(0.00rad) translateZ(0px); -webkit-transform: rotate(0.00rad) translateZ(0px);" title=""></span></p><p class="c2 c22"><span class="c5"></span></p><ul class="c16 lst-kix_719zot2k6loo-0 start"><li class="c2 c11 c13 li-bullet-0"><span class="c20 c4 c21">Make physical connection</span></li></ul><ol class="c16 lst-kix_di4csss5owwg-0 start" start="1"><li class="c2 c13 c32 li-bullet-0"><span class="c5">connect ethernet port</span></li><li class="c2 c13 c32 li-bullet-0"><span class="c5">connect power cable</span></li></ol><p class="c2 c22"><span class="c5"></span></p><p class="c2 c22"><span class="c5"></span></p><p class="c2 c22"><span class="c5"></span></p><p class="c2"><span style="overflow: hidden; display: inline-block; margin: 0.00px 0.00px; border: 0.00px solid #000000; transform: rotate(0.00rad) translateZ(0px); -webkit-transform: rotate(0.00rad) translateZ(0px); width: 587.00px; height: 130.67px;"><img alt="" src="images/image2.png" style="width: 587.00px; height: 130.67px; margin-left: 0.00px; margin-top: 0.00px; transform: rotate(0.00rad) translateZ(0px); -webkit-transform: rotate(0.00rad) translateZ(0px);" title=""></span></p><p class="c2 c22"><span class="c5"></span></p><ul class="c16 lst-kix_i2adbfe6hotl-0 start"><li class="c15 c11 c13 li-bullet-0"><span class="c20 c4 c25 c21">Good Practice to Restart Network Service </span></li></ul><a id="t.4105bc79b5189177f8222de3102735156ab30f83"></a><a id="t.0"></a><table class="c18"><tr class="c24"><td class="c19" colspan="1" rowspan="1"><p class="c15"><span class="c1"> </span><span class="c1 c27">sudo service network-manager restart</span></p></td></tr></table><p class="c6 c11"><span class="c5 c25"></span></p><p class="c6 c11"><span class="c5 c25"></span></p><ul class="c16 lst-kix_4h77qw5v2rvz-0 start"><li class="c15 c11 c13 li-bullet-0"><span class="c20 c4 c25 c21">Verify Data Reception</span></li></ul><ol class="c16 lst-kix_knlb1ime3pt6-0 start" start="1"><li class="c15 c13 c32 li-bullet-0"><span class="c5 c25">execute the shell script to find the right network</span></li></ol><p class="c6"><span class="c5 c25"></span></p><a id="t.a623f1453f97f78db6965824f08142d8908f1043"></a><a id="t.1"></a><table class="c18"><tr class="c24"><td class="c19" colspan="1" rowspan="1"><p class="c15"><span class="c1 c7">for</span><span class="c1"> i </span><span class="c1 c7">in</span><span class="c1"> {100..199}; </span><span class="c1 c7">do</span><span class="c1"><br> (<br> </span><span class="c1 c7">if</span><span class="c1"> ping -c 1 -W 1 192.168.1.</span><span class="c1 c37">$i</span><span class="c1"> > /dev/null 2>&1; </span><span class="c1 c7">then</span><span class="c1"><br> </span><span class="c1 c17">echo</span><span class="c1"> </span><span class="c1 c28">"192.168.1.</span><span class="c1 c37">$i</span><span class="c1 c28"> is up"</span><span class="c1"><br> </span><span class="c1 c7">else</span><span class="c1"><br> </span><span class="c1 c17">echo</span><span class="c1"> </span><span class="c1 c28">"192.168.1.</span><span class="c1 c37">$i</span><span class="c1 c28"> is down"</span><span class="c1"><br> </span><span class="c1 c7">fi</span><span class="c1"><br> ) &<br></span><span class="c1 c7">done</span><span class="c1"><br></span><span class="c1 c17 c35">wait</span></p></td></tr></table><h3 class="c26" id="h.6fxxhuxvm296"><span class="c9"></span></h3><p class="c6"><span class="c5 c25"></span></p><p class="c6"><span class="c5 c25"></span></p><p class="c6"><span class="c5 c25"></span></p><a id="kix.fdf3wx99nt3u"></a><ol class="c16 lst-kix_knlb1ime3pt6-0" start="2"><li class="c15 c13 c32 li-bullet-0"><span class="c25">ping 192.168.1.158 (your lidar ip address found)</span></li></ol><h3 class="c34" id="h.pbp912557z8m"><span class="c33 c21">Test Runs</span></h3><p class="c15 c10"><span class="c20 c4 c21">launch sample FAST-LIO test:</span></p><p class="c15 c10"><span>sample livox-360 rosbag file: </span><span class="c0"><a class="c8" href="https://www.google.com/url?q=https://drive.google.com/file/d/1aZvW2q_qt87xmOeX5jiNMIrnBtv31pCH/view?usp%3Ddrive_link&sa=D&source=editors&ust=1703996839460288&usg=AOvVaw2sags28rgX-Unbe0Ni6QNV">Drive Link</a></span></p><ol class="c16 lst-kix_cb9ad4nzd16x-0 start" start="1"><li class="c15 c10 c11 c13 li-bullet-0"><span class="c5">[terminal 1]</span></li></ol><p class="c15 c10 c11"><span class="c5">rosbag play -l <path to bag file></span></p><ol class="c16 lst-kix_cb9ad4nzd16x-0" start="2"><li class="c15 c10 c11 c13 li-bullet-0"><span class="c5">[terminal 2]</span></li></ol><p class="c15 c10 c11"><span class="c5">roslaunch fast_lio mapping_mid360.launch </span></p><p class="c6 c10 c11"><span class="c5"></span></p><p class="c15 c10"><span class="c20 c4 c21">Run mid-360 with FAST-LIO:</span></p><ol class="c16 lst-kix_zcw37359bhx9-0 start" start="1"><li class="c15 c10 c11 c13 li-bullet-0"><span class="c5">set ip address in config </span></li></ol><p class="c15 c10 c11"><span class="c5">in /path/to/ws_livox/src/livox_ros_driver2/config/MID360_config.json</span></p><ul class="c16 lst-kix_bqaqpt4qtghb-0 start"><li class="c3 li-bullet-0"><span>set all ip terms within host_net_info to your </span><span class="c0"><a class="c8" href="#kix.wjs68zoxae2f">host ip</a></span><span class="c5"> </span></li><li class="c3 li-bullet-0"><span>set ip term within lidar_configs to your </span><span class="c0"><a class="c8" href="#kix.fdf3wx99nt3u">lidar ip</a></span></li></ul><ol class="c16 lst-kix_zcw37359bhx9-0" start="2"><li class="c15 c10 c11 c13 li-bullet-0"><span class="c5">Launch rviz to inspect data reception </span></li></ol><a id="t.06f7eb4f6203f76315ca51afd7311a4a019e0211"></a><a id="t.2"></a><table class="c18"><tr class="c24"><td class="c19" colspan="1" rowspan="1"><p class="c15"><span class="c1"> </span><span class="c1 c27">roslaunch livox_ros_driver2 rviz_MID360.launch</span></p></td></tr></table><ol class="c16 lst-kix_zcw37359bhx9-0" start="3"><li class="c15 c10 c11 c13 li-bullet-0"><span class="c5">Launch mid-360 with FAST-LIO</span></li></ol><ul class="c16 lst-kix_kpemn3uy0x8-0 start"><li class="c3 li-bullet-0"><span class="c5">Run livox ros driver2 to publish pointcloud </span></li></ul><a id="t.a60da3232c7bd55bab1f360858767334d3b359a7"></a><a id="t.3"></a><table class="c18"><tr class="c24"><td class="c19" colspan="1" rowspan="1"><p class="c15"><span class="c1"> </span><span class="c1 c27">roslaunch livox_ros_driver2 msg_MID360.launch</span></p></td></tr></table><ul class="c16 lst-kix_xq65w9q8f19a-0 start"><li class="c3 li-bullet-0"><span class="c5">Run FAST-LIO to read data </span></li></ul><a id="t.a70746594b2875d9e7f764c7bcc1b9800cf8c563"></a><a id="t.4"></a><table class="c18"><tr class="c24"><td class="c19" colspan="1" rowspan="1"><p class="c15"><span class="c4 c31 c25"> </span><span class="c1 c27">roslaunch fast_lio mapping_mid360.launch</span></p></td></tr></table><p class="c6 c10"><span class="c5"></span></p><h2 class="c38 c10" id="h.t5z3grze2770"><span class="c14">Test </span></h2><p class="c6 c10"><span class="c5"></span></p><p class="c6 c10"><span class="c5"></span></p><p class="c6 c10"><span class="c20 c1"></span></p></body></html>