HDMapping-LIO

ROS2 wrapper for HDMapping LiDAR Inertial Odometry (LIO).

Quick start

source /opt/ros/jazzy/setup.bash
cd ~/ros2_ws/src/ && git clone --recursive https://github.com/MapsHD/HDMapping-LIO
cd ~/ros2_ws/ && rosdep install --from-paths src --ignore-src -y
colcon build --packages-select hdmapping_lio --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
ros2 launch hdmapping_lio hdmapping_lio.launch.py

Usage

ros2 launch hdmapping_lio hdmapping_lio.launch.py \
    imu_topic:=/livox/imu \
    lidar_topic:=/livox/lidar \
    use_rviz:=true

Launch arguments

Argument	Default	Description
params_file	default_params.yaml	Path to parameter YAML file
imu_topic	/imu	IMU topic name
lidar_topic	/points	LiDAR point cloud topic name
use_rviz	false	Launch RViz2
rviz_config	hdmapping_lio.rviz	RViz config file

Topics

Subscribed

Topic	Type	Description
/imu	sensor_msgs/msg/Imu	IMU (accelerometer + gyroscope)
/points	sensor_msgs/msg/PointCloud2	LiDAR point cloud

Published

Topic	Type	Description
hdmapping/odom	nav_msgs/msg/Odometry	Current pose and velocity
hdmapping/trajectory	nav_msgs/msg/Path	Full trajectory history
hdmapping/map	sensor_msgs/msg/PointCloud2	Accumulated map point cloud

License

MIT