# FineNav2D

**Repository Path**: fins-robotics/FineNav2D

## Basic Information

- **Project Name**: FineNav2D
- **Description**: FINES机器人平面自主导航功能部署
- **Primary Language**: C++
- **License**: MPL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 4
- **Forks**: 0
- **Created**: 2024-09-14
- **Last Updated**: 2026-05-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# FineNav2D

## How to use

1. clone the repository
   
```shell
mkdir nav_ws && cd nav_ws/
git clone https://gitee.com/huigg-practice/FineNav2D.git
cd FineNav2D/
git submodule update --init --recursive 
```

2. build the project

```shell
cd ..
colcon build --symlink-install
```

3. launch

```shell
# Make sure you are in the root directory of the project
source install/setup.bash
```
Example: Bring up FineNav2D with Livox Mid-360 and Fast-LIO

```shell
# Check your ethernet interface
ifconfig
# Set the static IP address of your ethernet interface
# The default ipv4 address is 192.168.1.50, you can change it in <PROJECT_DIR>/fn_bringup/config/MID360_config.yaml
sudo ifconfig <interface> <ip>
# Launch FineNav2D
ros2 launch fine_nav2d_bringup bringup_nav2_real.launch.py \
lidar_type:=livox \
enable_recorder:=false \
lio_type:=fast_lio \
enable_rviz:=true
```
If everything goes well, you will see the following result:
![expected_result.png](asset/expected_result.png)