ROS2版本iG-LIO

STILL WORKING ON ......

工作基于https://github.com/liangheming/iG-LIO_SAM_LC

命令

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX/XXX.pcd', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"