# fastlio_go2

**Repository Path**: AlEX_2473/fastlio_go2

## Basic Information

- **Project Name**: fastlio_go2
- **Description**: fast-lio2 for unitree go2
- **Primary Language**: Unknown
- **License**: GPL-2.0
- **Default Branch**: feat/multi_lidar
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2025-11-01
- **Last Updated**: 2026-03-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# FAST-LIO2 for Unitree go2

## 准备

### 1. deb package

> 注意: 当前pcl版本为1.15,  可以使用1.12 (humble ubuntu 22.04源)

```shell
sudo apt install -y \
    ros-humble-pcl-ros \
    ros-humble-rmw-cyclonedds-cpp \
    ros-humble-rosidl-generator-dds-idl \
    libyaml-cpp-dev
```

### 2. 从源码编译PCL

编译cJSON

```shell
mkdir 3rdparty && cd 3rdparty
git clone https://github.com/DaveGamble/cJSON.git # or download source package
cd cJSON
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install -DCMAKE_BUILD_TYPE=Release -GNinja
ninja
ninja install

```

```shell
mkdir 3rdparty && cd 3rdparty
git clone https://github.com/PointCloudLibrary/pcl.git # or download source package
cd pcl
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install -DCMAKE_BUILD_TYPE=Release -GNinja
ninja
ninja install
```

### 编译package

```shell
colcon build --symlink-install --packages-select fastlio_go2 go2_driver
source install/setup.bash
```

[scripts](scripts) 脚本文件仅供参考，请根据自身情况自行修改

## 运行

Terminal 1:

```shell
ros2 launch go2_driver go2_driver.launch.py
```

Terminal 2:

```shell
ros2 launch fast_lio mapping_multi_utlidar.launch.py 
```

![alt text](doc/fastlio2_multi_utlidar.png)