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Fly项目，使用激光雷达定位+ego planner规划+MPC控制

激光雷达定位

  • Livox-SDK 安装Livox驱动，用于mid360雷达点云接收
cd Livox-SDK
mkdir build
cd build && cmake ..
make
sudo make install
  • Faster Lio 用于雷达定位，对源码进行了修改，在/Odometry话题中可以输出三轴速度信息，来源于IMU的EKF积分

ego planner规划

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MPC控制

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