MRS Point-LIO Core

Metapackage containing submodules, launch files, config files, scripts, and other files necessary for running the MRS UAV system with Point-LIO state estimation.

Submodules

Repository
mrs_point_lio_estimator_plugin
Point-LIO

Installation

I) Install ctu-mrs/mrs_uav_modules (beware: will be used instead of ros-noetic-mrs-uav-modules package if installed)

MODULES_WORKSPACE=$HOME/modules_workspace

cd $HOME/git && git clone git@github.com:ctu-mrs/mrs_uav_modules.git
cd $HOME/git/mrs_uav_modules
git pull && gitman update
mkdir -p $MODULES_WORKSPACE/src && cd $MODULES_WORKSPACE/src && ln -sf $HOME/git/mrs_uav_modules .
cd mrs_uav_modules && git pull && gitman update
cd ros_packages/mrs_pcl_tools && git checkout livox && git pull # TODO: remove this step once livox_ros_driver2 is deployed as a deb pkg

cd $MODULES_WORKSPACE && catkin init
catkin config --profile reldeb --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
catkin config --extend /opt/ros/noetic
catkin build

II) Install ctu-mrs/mrs_point_lio_core

WORKSPACE=$HOME/indair_workspace

cd $HOME/git && git clone git@github.com:ctu-mrs/mrs_point_lio_core.git
cd $HOME/git/mrs_point_lio_core
git pull && gitman update
mkdir -p $WORKSPACE/src && cd $WORKSPACE/src && ln -sf $HOME/git/mrs_point_lio_core .
cd $HOME/git/mrs_point_lio_core/installation && ./install.sh

cd $WORKSPACE && catkin init
catkin config --profile reldeb --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
catkin config --extend $MODULES_WORKSPACE/devel # important to extend the modules workspace!
source $MODULES_WORKSPACE/devel/setup.sh && catkin build

And manually set the IP of your Livox MID360 in livox_ros_driver2/config/MID360_config.json. How to find the IP of the sensor is written here.

Note 1: do not forget to source your WORKSPACE in your .*rc file.

Note 2: this tutorial applies for ROS1 and Livox MID360 sensor - replace with your ROS and sensor as needed.

Update and build

cd $WORKSPACE/src/mrs_point_lio_core
git pull && gitman update
catkin build

Launch

Launch the driver and Point-LIO separately

roslaunch livox_ros_driver2 mid360.launch xfer_format:=1  # Livox MID360 driver
roslaunch point_lio mid360.launch rviz:=false             # Point-LIO

or use the prepared launch file for both at once

roslaunch mrs_point_lio_core point_lio_livox_mid360.launch

TODOs

• Simplify install instructions for mrs_uav_modules once livox_ros_driver2 is installed as part of mrs_uav_modules.
• Automatize IP address deduction from env variables
• Nodeletize and run under one nodelet manager:
  • livox_ros_driver2
  • Point-LIO
• Make the custom msg format of livox_ros_driver2 visualizable in RViz
• Lower the terminal spamming of the nodes and normalize their naming to improve clarity