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fast-lio-slam-docker's Introduction

fast-lio-slam-docker

dockerize FAST_LIO_SLAM

Usage

  1. build docker image: bash build.sh
  2. launch FAST-LIO2 for odometry
    1. launch container: bash run.sh, update docker volume mapping according to your condition
    2. launch fast-lio in container: roslaunch fast_lio mapping_ouster64_mulran.launch
  3. launch SC-PGO for loop detection and pose-graph optimization
    1. login container: bash login.sh
    2. launch sc-pgo in container: roslaunch aloam_velodyne fastlio_ouster64.launch
  4. replay MulRun dataset, you should download the dataset first
    1. login container: bash login.sh
    2. replay data: roslaunch file_player file_player.launch

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