a12fghoen / FAST-LIO-NON-ROS

ROS independent modification of FAST-LIO

About

This repository contains modified FAST-LIO which doesn't depend on ROS. So, it can be easily run in both windows and Colab. Original repository: https://github.com/hku-mars/FAST_LIO

How to build and run

$git clone https://github.com/BurhanMuhyiddin/FAST-LIO-NON-ROS.git
$cd source_directory
$mkdir build
$cd build
$cmake ..
$make
$./fastlio_mapping

Before running the code, create "data" folder which contains your .bag file in .txt format. You can use rosbag2txt.py in "scripts" folder for that purpose. Don't forget to change path to the .txt file in "laserMapping.cpp" in line 31.

To-do

1. Clean the code (partially done)
2. Add the functionality of ros spin with defined frequency (done)
3. Verify results (done)
4. Automatically finish the process when file has been read (done)
5. Add livox lidar callback support (done)