# magic_nav2

**Repository Path**: ironjiang/magic_nav2

## Basic Information

- **Project Name**: magic_nav2
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-15
- **Last Updated**: 2026-03-06

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# FeiHu_Sentry_2025

## 项目介绍
本项目参考北部湾大学飞虎战队2025年的哨兵导航包，主要用于机器人导航和定位。

## 硬件设备
1.  Mini Pc:13代 intel酷睿i9-13900H BQM6
2.  传感器：Livox-Mid360激光雷达

## 开发环境
Ubuntu22.04 ROS2 Humble

## 第三方依赖库
- livox-SDK2: [https://github.com/Livox-SDK/Livox-SDK2.git](https://github.com/Livox-SDK/Livox-SDK2.git)
- livox_ros_driver2: [https://github.com/Livox-SDK/livox_ros_driver2.git](https://github.com/Livox-SDK/livox_ros_driver2.git)
- small_gicp: [https://github.com/koide3/small_gicp.git](https://github.com/koide3/small_gicp.git)
- ndt_omp: [https://github.com/koide3/ndt_omp.git](https://github.com/koide3/ndt_omp.git)

## 配置安装
### 安装依赖项
```bash
sudo apt install cmake
sudo apt install ros-humble-perception-pcl \
         ros-humble-pcl-msgs \
         ros-humble-vision-opencv \
         ros-humble-xacro
sudo apt install libpcap-dev
sudo add-apt-repository ppa:borglab/gtsam-release-4.1
sudo apt install libgtsam-dev libgtsam-unstable-dev
sudo apt-get install libgeographic-dev
sudo apt install ros-humble-nav2-*
```

### 克隆仓库到本地
```bash
git clone https://github.com/bbguhdm/FeiHu_Sentry_2025.git
```

### 编译
```bash
colcon build --symlink-install
```

## 运行

### 建图
两种方式，
方式一：一键启动所有节点（雷达，底盘，键盘控制，建图节点）:
```bash
./mapping.sh 
```

方式二：只启动建图节点
```bash
./slam_mapping.sh 
```

保存地图的位置在配置文件`lio_sam_magicrobot_mapping.yaml`加载  \

将savePCD标志位置为True后，建图完成后会自动保存pcd点云地图到指定的路径下

### 导航
使用scan context:
```bash
./localization.sh
```

## 本项目参考
- [https://github.com/TixiaoShan/LIO-SAM.git](https://github.com/TixiaoShan/LIO-SAM.git)
- [https://github.com/YJZLuckyBoy/liorf.git](https://github.com/YJZLuckyBoy/liorf.git)
- [https://github.com/shallowlife/SC-LIO-SAM_based_relocalization.git](https://github.com/shallowlife/SC-LIO-SAM_based_relocalization.git)
- [https://github.com/UV-Lab/LIO-SAM_MID360_ROS2.git](https://github.com/UV-Lab/LIO-SAM_MID360_ROS2.git)
- [https://github.com/gisbi-kim/scancontext.git](https://github.com/gisbi-kim/scancontext.git)

## 演示视频
[Bilibili视频链接](https://www.bilibili.com/video/BV1qzJwzAE7d/?spm_id_from=333.1387.homepage.video_card.click&vd_source=042907916a7d08b15ea341c704304d46)