# slash_ws

**Repository Path**: Da_pai_xing/slash_ws

## Basic Information

- **Project Name**: slash_ws
- **Description**: ROS2 package leveraging Mid360 and FASTLIO for f1tenth car navigation.
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 0
- **Created**: 2024-10-02
- **Last Updated**: 2025-08-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## 一. 环境配置
ARM64 (jetson orin nx)
ubuntu20.04
ROS2 foxy
1. 克隆仓库
   
  ```sh
    git clone --recursive https://github.com/Jialin3/slash_ws.git
  ```
2. 安装 [Livox SDK2](https://github.com/Livox-SDK/Livox-SDK2)
   
    ```sh
    sudo apt install cmake
    ```

    ```sh
    git clone https://github.com/Livox-SDK/Livox-SDK2.git
    cd ./Livox-SDK2/
    mkdir build
    cd build
    cmake .. && make -j
    sudo make install
    ```
    ps：之前用过4g版本的jetson orin nano在多线程编译make -j时会直接卡死

3. 安装依赖
    ```sh
    rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
    ```
    ps：大概率rosdep连接超时，手动用二进制apt安装需要的依赖

4. 编译

    ```sh
    colcon build --symlink-install
    ```
    ps：--symlink-instal方便调试参数文件不用二次编译，
        --packages-select编译指定包

## 二. 框架图
![功能包流程图](image/软件框架图.png)

## 三. 测试图
![fast_lio测试](image/fast_lio测试.jpg)
![小车](image/小车.jpg)