{"id":1343,"date":"2026-05-15T21:44:21","date_gmt":"2026-05-15T13:44:21","guid":{"rendered":"https:\/\/www.kakosci.com\/?p=1343"},"modified":"2026-05-15T21:44:41","modified_gmt":"2026-05-15T13:44:41","slug":"%e6%97%a0%e4%ba%ba%e6%9c%bajetson%e6%90%ad%e8%bd%bdlivox-mid-360s%ef%bc%8c%e9%83%a8%e7%bd%b2%e5%9f%ba%e4%ba%8ertab-map%e5%92%8cfast-lio2%e7%9a%84slam","status":"publish","type":"post","link":"https:\/\/www.kakosci.com\/index.php\/2026\/05\/15\/%e6%97%a0%e4%ba%ba%e6%9c%bajetson%e6%90%ad%e8%bd%bdlivox-mid-360s%ef%bc%8c%e9%83%a8%e7%bd%b2%e5%9f%ba%e4%ba%8ertab-map%e5%92%8cfast-lio2%e7%9a%84slam\/","title":{"rendered":"\u65e0\u4eba\u673aJetson\u642d\u8f7dLivox MID-360S\uff0c\u90e8\u7f72\u57fa\u4e8ertab-map\u548cFast-LIO2\u7684SLAM"},"content":{"rendered":"\n<p>\u4e4b\u524d\u60f3\u7528\u6df1\u5ea6\u76f8\u673a\u6765\u505a\u89c6\u89c9\u91cc\u7a0b\u8ba1\u7ed9\u65e0\u4eba\u673a\u7528\u8fd8\u662f\u592a\u5f02\u60f3\u5929\u5f00\uff0c\u6700\u7ec8\u8fd8\u662f\u4e70\u6fc0\u5149\u96f7\u8fbe\u4e0a\u5f3a\u5ea6\u6765\u4e86\u3002\u603b\u4e4b\u5c31\u662fMID-360S\u6536\u96c6\u6570\u636e\uff0cFast-LIO2\u8d1f\u8d23\u72b6\u6001\u4f30\u8ba1\uff0cRTAB-Map\u8d1f\u8d23\u5efa\u56fe\u3001\u8bb0\u5f55\uff0cJetson\u63d0\u4f9b\u7b97\u529b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u914d\u7f6e\uff1a\u81ea\u7ec4\u65e0\u4eba\u673a\uff08650\u8f74\u8ddd\u673a\u67b6\u3001Pixhawk 6c mini\uff08PX4 1.16.0\uff09\u3001\uff09\u3001Livox MID-360S\u6fc0\u5149\u96f7\u8fbe\u3001Jetson Orin NX Super 16G\uff08JetPack 6 \/ Ubuntu 22.04 LST\u3001ROS2 Humble\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">MID-360S\u7684ROS2\u90e8\u7f72<\/h2>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"624\" height=\"624\" src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/c94f5c4ea11566f469670cba66e2c954.png\" alt=\"\" class=\"wp-image-1360\" style=\"width:259px;height:auto\" srcset=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/c94f5c4ea11566f469670cba66e2c954.png 624w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/c94f5c4ea11566f469670cba66e2c954-300x300.png 300w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/c94f5c4ea11566f469670cba66e2c954-150x150.png 150w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/c94f5c4ea11566f469670cba66e2c954-200x200.png 200w\" sizes=\"auto, (max-width: 624px) 100vw, 624px\" \/><\/figure>\n<\/div>\n\n\n<p>\u4e70\u7684MID-360\uff0c\u53d1\u8d27\u8fc7\u6765\u53d1\u73b0\u540e\u9762\u591a\u4e86\u4e2a\u201cS\u201d\uff0c\u539f\u6765\u662f\u63a8\u51fa\u7684\u65b0\u7248\uff0c\u597d\u50cf\u662f\u6027\u80fd\u4e00\u6837\u4f46\u662f\u66f4\u4fbf\u5b9c\u800c\u5df2\uff08\u5373\u88ab\u5356\u5bb6\u5751\u4e86\u8bf4\u662f\uff09\u3002\u4e0d\u5148\u8fde\u7b14\u8bb0\u672c\u6d4b\u8bd5\u4e86\uff0c\u76f4\u63a5\u4e0ajetson\u914d\u7f6e\uff0c\u96f7\u8fbe\u901a\u7535\u3001\u8fde\u63a5\u4e0ajetson\u7684\u7f51\u53e3\u540e\uff0c\u67e5\u8be2\u4ee5\u592a\u7f51\u4fe1\u606f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">nmcli device<\/code><\/pre>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"793\" height=\"223\" src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/image-1.png\" alt=\"\" class=\"wp-image-1354\" srcset=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/image-1.png 793w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/image-1-300x84.png 300w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/image-1-768x216.png 768w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/image-1-670x188.png 670w\" sizes=\"auto, (max-width: 793px) 100vw, 793px\" \/><\/figure>\n<\/div>\n\n\n<p>\u628aJetson\u7684\u7f51\u53e3\u8bbe\u7f6e\u5230192.168.1.x\u7f51\u6bb5\uff0c\u6211\u7528\u768450\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">sudo nmcli connection modify \"Wired connection 1\" ipv4.addresses 192.168.1.50\/24\nsudo nmcli connection modify \"Wired connection 1\" ipv4.method manual\nsudo nmcli connection up \"Wired connection 1\"\n\nsudo ufw disable  # \u5173\u95ed\u9632\u706b\u5899\uff0c\u907f\u514d\u8fde\u63a5\u51fa\u95ee\u9898<\/code><\/pre>\n\n\n\n<p>\u5c1d\u8bd5ping\u6fc0\u5149\u96f7\u8fbe\uff0c\u5176\u5730\u5740\u4e3a192.168.1.1xx\uff0c\u6700\u540e\u4e24\u4f4d\u7531MID-360S\u4e0a\u4e00\u4e2a\u4e8c\u7ef4\u7801\u6807\u7b7e\u5e95\u90e8\u7684SN\u7801\u51b3\u5b9a\uff0c\u5982\u6211SN\u7801\u6700\u540e\u4e24\u4f4d\u662f01\uff0c\u90a3\u4e48\u6211\u7684\u5730\u5740\u5c31\u662f192.168.1.101\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">ping 192.168.1.101<\/code><\/pre>\n\n\n\n<p>\u6709\u53cd\u5e94\u5c31\u8bf4\u660e\u521d\u6b65\u8fde\u4e0a\u4e86\u3002\u7136\u540e\u5b89\u88c5Livox-SDK2\uff08\u5df2\u652f\u6301mid-360s\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">cd ~\ngit clone https:\/\/github.com\/Livox-SDK\/Livox-SDK2.git\ncd .\/Livox-SDK2\/\nmkdir build\ncd build\ncmake .. &amp;&amp; make -j\nsudo make install<\/code><\/pre>\n\n\n\n<p>\u63a5\u4e0b\u6765\u514b\u9686livox_ros_driver2\u529f\u80fd\u5305\uff0c\u5141\u8bb8\u6211\u4eec\u901a\u8fc7ros2\u83b7\u53d6\u5230mid-360s\u7684lidar\u70b9\u4e91\u8bdd\u9898\u548cimu\u60ef\u6027\u8bdd\u9898\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">cd ~\/your_work_sapce\/src\ngit clone https:\/\/github.com\/Livox-SDK\/livox_ros_driver2.git<\/code><\/pre>\n\n\n\n<p>\u5728\u7f16\u8bd1\u4e4b\u524d\uff0c\u6ce8\u610f\u4e24\u4e2a\u5730\u65b9\uff0c\u4e00\u4e2a\u662f\u914d\u7f6e\u6587\u4ef6\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">cd livox_ros_driver2\ncd config\nnano MID360s_config.json\n# \u7ed9host_ip\u548clidar\u7684ip\u5904\u586b\u5165\u524d\u9762\u8bb2\u7684\u5730\u5740\uff0c\u5982\u6211\u7684\u5c31\u5206\u522b\u586b192.168.1.50\u548c192.168.1.101<\/code><\/pre>\n\n\n\n<p>\u53e6\u4e00\u4e2a\u662flaunch_ROS2\u6587\u4ef6\u5939\u4e2d\uff0cmsg_MID360s_launch.py\u548crviz_MID360s_launch.py\u91cc\u7684xfer_format\u53d8\u91cf\uff0c0\u4ee3\u8868\u8f93\u51fa\u6807\u51c6\u7684ros2\u70b9\u4e91\u683c\u5f0f\uff0c1\u8f93\u51fa\u7684\u662f\u5b83\u81ea\u5b9a\u4e49\u7684\u4e00\u79cd\u590d\u5408\u683c\u5f0f\uff0cmsg\u7248\u9ed8\u8ba4\u7684\u662f1\uff0crviz\u7684\u662f0\uff0c\u7531\u4e8e\u6211\u5e76\u6ca1\u6709\u5373\u65f6\u53ef\u89c6\u5316\u7684\u9700\u6c42\uff0c\u80af\u5b9a\u662f\u7528msg\u7248\uff0c\u800c\u521a\u597dfast_lio2\u8981\u6c42\u8f93\u5165\u7684\u4e5f\u662f1\u8fd9\u79cd\u70b9\u4e91\u683c\u5f0f\uff0c\u6240\u4ee5\u4e0d\u9700\u8981\u6539\u3002\u53c2\u8003\u4ed3\u5e93\u539f\u6587\uff08luanch\u6587\u4ef6\u540d\u662f\u4ee5\u524d\u8001\u7684\uff09\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>For livox serials, FAST-LIO only support the data collected by the&nbsp;<code>livox_lidar_msg.launch<\/code>&nbsp;since only its&nbsp;<code>livox_ros_driver2\/CustomMsg<\/code>&nbsp;data structure produces the timestamp of each LiDAR point which is very important for the motion undistortion.&nbsp;<code>livox_lidar.launch<\/code>&nbsp;can not produce it right now.<\/p>\n<\/blockquote>\n\n\n\n<p>\u7531\u4e8e\u6211\u628alivox_ros_driver2\u8ddf\u5176\u4ed6\u6240\u6709\u529f\u80fd\u5305\u90fd\u90e8\u7f72\u5728\u4e86\u4e00\u4e2a\u5de5\u4f5c\u7a7a\u95f4\u4e0b\uff0c\u4f46\u5b83\u53c8\u9700\u8981\u7528\u81ea\u5e26\u7684\u7279\u5b9a\u811a\u672c\u6765\u7f16\u8bd1\uff0c\u4f1a\u5bfc\u81f4\u628a\u73b0\u6709\u5168\u90e8\u5305\u7684\u7f16\u8bd1\u4e00\u904d\uff0c\u6240\u4ee5\u6539\u4e86\u4e0b\u7f16\u8bd1\u811a\u672c\u7684\u5185\u5bb9\uff0c\u8ba9\u53ea\u7f16\u8bd1\u8fd9\u4e2a\u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">cd ..\nnano build.sh\n\n# \u5f80\u4e0b\u7ffb\u5230colcon build\u90a3\u4e00\u884c\uff0c\u52a0\u4e2a--packages-up-to\u53c2\u6570\uff1a\ncolcon build --packages-up-to livox_ros_driver2 --cmake-args -DROS_EDITION=${VERSION_ROS2} -DDISTRO_ROS=${ROS_DISTRO}\n# \u4fdd\u5b58\u9000\u51fa\n# \u5f53\u7136\u5b9e\u9645\u4e0a\u4e5f\u53ef\u4ee5\u81ea\u5df1\u586b\u53c2\u6570\u7136\u540e\u62ff\u6307\u4ee4\u5230\u5916\u9762\u53bb\u7f16\u8bd1\n\n.\/build.sh humble  # \u7f16\u8bd1<\/code><\/pre>\n\n\n\n<p>\u4e4b\u540e\u53ef\u4ee5ros2 launch livox_ros_driver2 msg_MID360s_launch.py\u542f\u52a8\u529f\u80fd\u5305\uff0c\u7136\u540e\u81ea\u884cecho\u3001hz\u7b49\u68c0\u67e5\u65b0\u8bdd\u9898\u662f\u5426\u80fd\u591f\u6b63\u5e38\u63a5\u6536\u3002 <\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Fast-LIO-ROS2\u514b\u9686\u4e0e\u90e8\u7f72<\/h2>\n\n\n\n<p>github\u4e0a\u5b98\u65b9\u4ed3\u5e93\u662f<a href=\"https:\/\/github.com\/hku-mars\" target=\"_blank\" rel=\"noopener\">hku-mars<\/a>\/<strong><a href=\"https:\/\/github.com\/hku-mars\/FAST_LIO\" target=\"_blank\" rel=\"noopener\">FAST_LIO<\/a><\/strong>\uff0c\u4e3a\u4e86\u9002\u914dhumble\uff0c\u8981\u9009\u62e9ROS2\u5206\u652f\uff0c\u6b64\u65f6\u5e95\u4e0b\u7684\u6559\u7a0b\u4f1a\u6307\u5f15\u6211\u4eec\u514b\u9686<a href=\"https:\/\/github.com\/Ericsii\" target=\"_blank\" rel=\"noopener\">Ericsii<\/a>\/<strong><a href=\"https:\/\/github.com\/Ericsii\/FAST_LIO_ROS2\" target=\"_blank\" rel=\"noopener\">FAST_LIO_ROS2<\/a><\/strong>\u8fd9\u4e2a\u4ed3\u5e93\u3002<\/p>\n\n\n\n<p>\u800c\u8fd9\u4e2a\u4ed3\u5e93\u7684\u7684\u514b\u9686\u5c31\u6709\u70b9\u5934\u75bc\u4e86\uff0c\u7531\u4e8e\u7f51\u7edc\u95ee\u9898\u6211\u672c\u6765\u4e00\u76f4\u6ca1\u6709clone\u6210\u529f\uff0c\u627e\u955c\u50cf\u7ad9\u4e5f\u6ca1\u6210\u529f\u3002\u6700\u540e\u53d1\u73b0gitee\u4e0a\u6709\u540c\u6b65\u4ed3\u5e93\uff0c\u7136\u800c\u7531\u4e8e\u8fd8\u6709\u4e2a\u5b50\u6a21\u5757\u6307\u5411\u4e86github\u4e2d\u7684ikd-Tree\u4ed3\u5e93\uff0c\u8fd8\u662f\u4f1a\u4e2d\u9014\u5931\u8d25\u65ad\u5f00\uff0c\u597d\u5728\u5b83\u540c\u6837\u4e5f\u6709\u4e2a\u540c\u6b65\u4ed3\u5e93\uff0c\u56e0\u6b64\u6700\u540e\u81ea\u5df1\u5728gitee\u4e0a\u7ed9fast-lio2\u521b\u5efa\u4e86\u4e00\u4e2a\u5206\u652f\uff0c\u5e76\u5c06.gitmodules\u91cc\u7684\u5730\u5740\u4e5f\u6539\u6210gitee\u4ed3\u5e93\uff0c\u7ec8\u4e8e\u624d\u6210\u529f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">cd ~\/your_workspace\/src\ngit clone https:\/\/gitee.com\/qin-kaitong\/FAST_LIO_ROS2.git --recursive\ncd ..\nrosdep install --from-paths src --ignore-src -y\ncolcon build --symlink-install --packages-select fast_lio  # \u8fd8\u662f\u53ea\u7f16\u8bd1\u4e86\u8fd9\u4e2a\u5305\uff0c\u800c\u4e14\u662f\u7684\u8fd9\u4e2a\u5305\u540d\u4e0d\u662fFAST_LIO_ROS2\u800c\u662ffast_lio\n. .\/install\/setup.bash # use setup.zsh if use zsh<\/code><\/pre>\n\n\n\n<p>\u987a\u4fbf\u7f16\u8bd1\u8fd9\u4e2a\u5305\u4e0d\u80fd\u7528&#8211;packages-up-to\uff0c\u56e0\u4e3a\u5b83\u4f9d\u8d56livox_ros_driver2\uff0c\u4f1a\u987a\u4fbf\u7f16\u8bd1\u8fd9\u4e2a\u7136\u540e\u56e0\u4e3a\u6ca1\u5e26\u53c2\u6570\u800c\u5d29\u6e83\u6389\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">SLAM\u542f\u52a8<\/h2>\n\n\n\n<p>\u5728\u81ea\u5df1\u522b\u7684\u529f\u80fd\u5305\uff08\u5982\u6211\u7684slam\u529f\u80fd\u5305\uff09\u7684launch\u6587\u4ef6\u5939\u4e2d\u521b\u5efa\u542f\u52a8\u6587\u4ef6\uff0c\u8bb0\u5f97\u8981\u5148\u6539setup.py\u3002\u6700\u540e\u7684SLAM\u4ee3\u7801\u5982\u4e0b\uff0cFAST-LIO2\u4f1a\u8ba2\u9605mid-360s\u53d1\u5e03\u7684lidar\u548c\u60ef\u6027imu\u6570\u636e\uff0c\u751f\u6210\u72b6\u6001\u4f30\u8ba1\uff0c\u5e76\u53d1\u5e03camera_init\uff08\u76f8\u5f53\u4e8eodom\uff09\u3001body\uff08\u96f7\u8fbe\u81ea\u5df1\u7684\u5750\u6807\u7cfb\uff09\u3001\u91cc\u7a0b\u8ba1\u8bdd\u9898\/Odometry\u548c\u53bb\u7578\u53d8\u5bf9\u9f50\u540e\u7684\u70b9\u4e91\u8bdd\u9898\/cloud_registered\uff0c\u518d\u7ed9RTAB-Map\u7528\u6765\u5efa\u56fe\u3002\u7531\u4e8e\u662f\u88c5\u5728\u65e0\u4eba\u673a\u4e0a\uff0c\u4e4b\u540e\u8fd8\u8981\u7ed9\u98de\u63a7\u63d0\u4f9b\u5b9a\u4f4d\uff0c\u8fd8\u53d1\u5e03\u4e86base_link\u4f5c\u4e3abody\u7684\u5b50\u5750\u6807\u7cfb\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"python\" class=\"language-python\">import os\nfrom launch import LaunchDescription\nfrom launch.actions import IncludeLaunchDescription, DeclareLaunchArgument\nfrom launch.launch_description_sources import\nfrom launch.substitutions import LaunchConfiguration\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n    # \u83b7\u53d6\u5404\u4e2a\u529f\u80fd\u5305\u7684 launch \u76ee\u5f55\n    livox_ros2_dir = get_package_share_directory('livox_ros_driver2')\n    fast_lio_dir = get_package_share_directory('fast_lio')\n    rtabmap_launch_dir = get_package_share_directory('rtabmap_launch')\n\n    # 1. \u5b9a\u4e49\u9759\u6001 TF \u53d1\u5e03\u5668\uff0c\u8fde\u63a5 base_link \u548c body\n    static_tf_publisher = Node(\n        package='tf2_ros',\n        executable='static_transform_publisher',\n        name='base_link_to_livox_laser',\n        arguments=[\n            '0.0', '0.0', '-0.1',      # X, Y, Z\u8f74\u7684\u5e73\u79fb\u7edd\u5bf9\u8ddd\u79bb\uff08\u5355\u4f4d\uff1a\u7c73\uff09\n            '0.0', '0.0', '0.0',      # Roll, Pitch, Yaw \u65cb\u8f6c\u5f27\u5ea6\uff08\u6216\u8005\u662f\u89d2\u5ea6\uff0c\u53d6\u51b3\u4e8eHumble\u7684\u5177\u4f53\u5c0f\u7248\u672c\uff0c\u63a8\u8350\u4e0b\u9762\u7528\u53c2\u6570\u5f62\u5f0f\u66f4\u7a33\u59a5\uff09\n            'body',              # \u7236\u5750\u6807\u7cfb\u540d\u79f0\n            'base_link'             # \u5b50\u5750\u6807\u7cfb\u540d\u79f0\n        ]\n    )\n\n    # 2. \u542f\u52a8 Livox Mid-360 \u9a71\u52a8 (\u8bf7\u786e\u4fdd\u4f60\u4f7f\u7528\u7684\u662f\u8f93\u51fa msg \u683c\u5f0f\u7684 launch \u6587\u4ef6\uff0c\u4ee5\u914d\u5408 fast-lio)\n    livox_driver_launch = IncludeLaunchDescription(\n        PythonLaunchDescriptionSource(\n            os.path.join(livox_ros2_dir, 'launch_ROS2', 'msg_MID360s_launch.py') \n            # \u6ce8\u610f\u68c0\u67e5\u8def\u5f84\u548c\u6587\u4ef6\u540d\u662f\u5426\u4e0e\u4f60\u7684\u914d\u7f6e\u4e00\u81f4\n        )\n    )\n\n    # 3. \u542f\u52a8 FAST-LIO2\n    fast_lio_config_path = os.path.join(fast_lio_dir, 'config', 'mid360.yaml')\n    fast_lio_launch = IncludeLaunchDescription(\n        PythonLaunchDescriptionSource(\n            os.path.join(fast_lio_dir, 'launch', 'mapping.launch.py')\n        ),\n        launch_arguments={\n            'config_file': fast_lio_config_path\n        }.items()\n    )\n\n\n    database_path = os.path.expanduser('~\/WushanPilot\/src\/slam\/rtabmap_livox.db')\n    rtabmap_node = Node(\n        package='rtabmap_slam',\n        executable='rtabmap',\n        name='rtabmap',\n        output='screen',\n        # \u547d\u4ee4\u884c\u53c2\u6570\uff1a\u5bf9\u5e94\u539f\u672c\u7684 'rtabmap_args': '--delete_db_on_start'\n        arguments=['--delete_db_on_start'],\n        parameters=[{\n            'use_sim_time': False,                # \u771f\u5b9e\u73af\u5883\u8bbe\u4e3a False\n            'frame_id': 'base_link',              # \u673a\u5668\u4eba\u7684\u57fa\u7840\u5750\u6807\u7cfb\n            'odom_frame_id': 'camera_init',\n            'database_path': database_path,       # \u6570\u636e\u5e93\u5b58\u653e\u8def\u5f84\n            \n            # \u4e25\u683c\u5173\u95ed\u4e00\u5207\u89c6\u89c9\u8f93\u5165\n            'subscribe_depth': False,\n            'subscribe_rgb': False,\n            'subscribe_rgbd': False,\n            'subscribe_scan': False,              # \u5173\u95ed 2D \u96f7\u8fbe\u8f93\u5165\n            \n            # \u4e25\u683c\u5f00\u542f 3D \u6fc0\u5149\u96f7\u8fbe\u8f93\u5165\n            'subscribe_scan_cloud': True,         # \u8ba2\u9605 3D \u70b9\u4e91\n            'approx_sync': True,                  # \u5f00\u542f\u8fd1\u4f3c\u65f6\u95f4\u540c\u6b65\n            \n            # RTAB-Map \u540e\u7aef\u4f18\u5316\u4e0e\u5efa\u56fe\u53c2\u6570 (\u76f4\u63a5\u5199\u5728 parameters \u5b57\u5178\u4e2d)\n            'Reg\/Strategy': '1',                  # \u56de\u73af\u5339\u914d\u7b56\u7565\uff1a1=ICP\uff08\u7eaf\u51e0\u4f55\u5339\u914d\uff09\n            'Grid\/CellSize': '0.05',              # 2D \u5360\u636e\u6805\u683c\u5730\u56fe\u5206\u8fa8\u7387\uff08\u7c73\uff09\n            'Grid\/RangeMax': '20.0',              # \u6784\u5efa\u6805\u683c\u5730\u56fe\u7684\u6700\u5927\u8ddd\u79bb\uff08\u7c73\uff09\n            'Icp\/VoxelSize': '0.2',               # ICP \u5339\u914d\u65f6\u7684\u4f53\u7d20\u6ee4\u6ce2\u964d\u91c7\u6837\u5927\u5c0f\n            \n            # \u989d\u5916\u5b89\u5168\u6027\u53c2\u6570\uff1a\u786e\u4fdd\u5904\u4e8e\u5efa\u56fe\uff08\u589e\u91cf\u5f0f\u5185\u5b58\uff09\u6a21\u5f0f\n            'Mem\/IncrementalMemory': 'true',\n        }],\n        # \u6838\u5fc3 Topic \u91cd\u6620\u5c04 (\u7b49\u540c\u4e8e\u539f\u672c\u7684 odom_topic \u548c scan_cloud_topic)\n        # \u683c\u5f0f\u4e3a\uff1a( 'RTAB-Map\u9ed8\u8ba4\u5185\u90e8\u8bdd\u9898', '\u4f60\u7684\u5b9e\u9645\u8bdd\u9898' )\n        remappings=[\n            ('odom', '\/Odometry'),\n            ('scan_cloud', '\/cloud_registered')\n        ]\n    )\n\n    return LaunchDescription([\n        static_tf_publisher,\n        livox_driver_launch,\n        fast_lio_launch,\n        rtabmap_node\n    ])<\/code><\/pre>\n\n\n\n<p>\u6839\u636e\u81ea\u5df1\u7684\u5177\u4f53\u60c5\u51b5\u4fee\u6539\u4e0a\u9762\u7684\u4ee3\u7801\uff0c\u7136\u540e\u7f16\u8bd1\u529f\u80fd\u5305\u5e76launch\u8be5\u4ee3\u7801\u5373\u53ef\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"python\" class=\"language-python\">cd ~\/your_workspace\ncolcon build --packages-select your_package\nros2 launch your_package slam_launch.py<\/code><\/pre>\n\n\n\n<p>\u5230\u81ea\u5df1\u7535\u8111\u4e0a\u56de\u653e\u4e00\u4e0bdb\u91cc\u7684\u8def\u5f84\u548c\u70b9\u4e91\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"873\" height=\"608\" data-id=\"1373\" src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_path.png\" alt=\"\" class=\"wp-image-1373\" srcset=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_path.png 873w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_path-300x209.png 300w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_path-768x535.png 768w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_path-670x467.png 670w\" sizes=\"auto, (max-width: 873px) 100vw, 873px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"873\" height=\"608\" data-id=\"1375\" src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_cloud-1.png\" alt=\"\" class=\"wp-image-1375\" srcset=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_cloud-1.png 873w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_cloud-1-300x209.png 300w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_cloud-1-768x535.png 768w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/fastlio_cloud-1-670x467.png 670w\" sizes=\"auto, (max-width: 873px) 100vw, 873px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u8fb9\u505a\u8fb9\u5199\uff0c\u8fd9\u7bc7\u600e\u4e48\u610f\u5916\u987a\u5229\u3002\u597d\u5427\u5b9e\u5219\u4e2d\u9014\u4e5f\u51fa\u4e86\u5f88\u591abug\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e4b\u524d\u60f3\u7528\u6df1\u5ea6\u76f8\u673a\u6765\u505a\u89c6\u89c9\u91cc\u7a0b\u8ba1\u7ed9\u65e0\u4eba\u673a\u7528\u8fd8\u662f\u592a\u5f02\u60f3\u5929\u5f00\uff0c\u6700\u7ec8\u8fd8\u662f\u4e70\u6fc0\u5149\u96f7\u8fbe\u4e0a\u5f3a\u5ea6&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":1360,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[87,95,118],"tags":[122,123,120,121,119,104],"class_list":["post-1343","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-87","category-ros2","category-118","tag-fast-lio2","tag-jetson","tag-livox","tag-mid-360s","tag-rtab-map","tag-slam"],"_links":{"self":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1343","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/comments?post=1343"}],"version-history":[{"count":25,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1343\/revisions"}],"predecessor-version":[{"id":1376,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1343\/revisions\/1376"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media\/1360"}],"wp:attachment":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media?parent=1343"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/categories?post=1343"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/tags?post=1343"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}