首先大致介绍一下机载电脑用的香橙派5max（装的ubuntu20.04及ROS1），激光雷达是mid360，最后在rviz实时显示香橙派还“吃得消”。
目录
一、机载电脑运行雷达驱动，正常读取到雷达与IMU数据
二、启动slam（fastlio），发布ego需要的话题
三、ego运行
一、机载电脑运行雷达驱动，正常读取到雷达与IMU数据
这部分工作没做的可以看我这篇，非常详细，另外下面讲下注意事项
https://blog.csdn.net/2402_82745259/article/details/142923178?spm=1001.2014.3001.5502
注意到最后这步时，别运行roslaunch livox_ros_driver2 rviz_MID360.launch而是改成
roslaunch livox_ros_driver2 msg_MID360.launch然后打开一个终端查看雷达与IMU消息类型（为后面做准备）
输入
rostopic type /livox/imu出现
然后输入
rostopic type /livox/lidar
出现
以上两次出现跟我一样的消息类型即可，否则进入/livox_ros_driver2/launch_ROS1下，更改里面的msg_MID360.launch中的xfer_format对应的default，改成1。如下
然后再次运行launch文件，打印雷达与IMU话题的类型应该就跟我上面的一样了。
二、启动slam（fastlio），发布ego需要的话题
这部分工作我之前也详细讲过，可以看下我这篇，另外下面讲下注意事项
https://blog.csdn.net/2402_82745259/article/details/144032036?spm=1001.2014.3001.5502
注意最后一步在终端运行roslaunch fast_lio mapping_mid360.launch之前，将mapping_mid360.launch文件里面的rviz显示注释掉，没有必要显示，比较耗费资源。如下
<launch>
<!-- Launch file for Livox AVIA LiDAR --><arg name="rviz" default="true" /><rosparam command="load" file="$(find sfast_lio)/config/mid360.yaml" /><param name="feature_extract_enable" type="bool" value="0"/><!-- 100HZ的bag point_filter_num建议设置为1; 10HZ的bag建议设置为2或3 --><param name="point_filter_num" type="int" value="3"/><param name="max_iteration" type="int" value="3" /><param name="filter_size_surf" type="double" value="0.5" /><param name="filter_size_map" type="double" value="0.5" /><param name="cube_side_length" type="double" value="1000" /><node pkg="sfast_lio" type="fastlio_mapping" name="laserMapping" output="screen" /><!--<group if="$(arg rviz)"><node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find sfast_lio)/rviz_cfg/loam_livox.rviz" /></group>--></launch>然后编译再运行
roslaunch fast_lio mapping_mid360.launch然后打开一个新的终端查看话题，输入
rostopic list出现
可以看下/Odometry与/cloud_registered话题消息是否存在，输入
rostopic echo /Odometry
rostopic echo /cloud_registered正常出现即可。再看下位姿有没有飘（雷达一般很稳定）。
三、ego运行
先下载源码
https://github.com/ZJU-FAST-Lab/Fast-Drone-250
然后更改single_run_in_sim.launch，如下
<launch><!-- number of moving objects --><arg name="obj_num" value="10" /><arg name="drone_id" value="0"/><arg name="map_size_x" value="50.0"/><arg name="map_size_y" value="25.0"/><arg name="map_size_z" value=" 2.0"/><arg name="odom_topic" value="/Odometry" /><!-- map --><node pkg ="map_generator" name ="random_forest" type ="random_forest" output = "screen"><param name="map/x_size" value="26" /><param name="map/y_size" value="20" /><param name="map/z_size" value="3" /><param name="map/resolution" value="0.1"/><param name="ObstacleShape/seed" value="1"/><param name="map/obs_num" value="100"/><param name="ObstacleShape/lower_rad" value="0.5"/><param name="ObstacleShape/upper_rad" value="0.7"/><param name="ObstacleShape/lower_hei" value="0.0"/><param name="ObstacleShape/upper_hei" value="3.0"/><param name="map/circle_num" value="100"/><param name="ObstacleShape/radius_l" value="0.7"/><param name="ObstacleShape/radius_h" value="0.5"/><param name="ObstacleShape/z_l" value="0.7"/><param name="ObstacleShape/z_h" value="0.8"/><param name="ObstacleShape/theta" value="0.5"/><param name="pub_rate" value="1.0"/><param name="min_distance" value="0.8"/></node><!-- main algorithm params --><include file="$(find ego_planner)/launch/advanced_param.xml"><arg name="drone_id" value="$(arg drone_id)"/><arg name="map_size_x_" value="$(arg map_size_x)"/><arg name="map_size_y_" value="$(arg map_size_y)"/><arg name="map_size_z_" value="$(arg map_size_z)"/><arg name="odometry_topic" value="$(arg odom_topic)"/><arg name="obj_num_set" value="$(arg obj_num)" /><!-- camera pose: transform of camera frame in the world frame --><!-- depth topic: depth image, 640x480 by default --><!-- don't set cloud_topic if you already set these ones! --><arg name="camera_pose_topic" value="pcl_render_node/camera_pose"/><arg name="depth_topic" value="pcl_render_node/depth"/><!-- topic of point cloud measurement, such as from LIDAR --><!-- don't set camera pose and depth, if you already set this one! --><arg name="cloud_topic" value="/cloud_registered"/><!-- intrinsic params of the depth camera --><arg name="cx" value="321.04638671875"/><arg name="cy" value="243.44969177246094"/><arg name="fx" value="387.229248046875"/><arg name="fy" value="387.229248046875"/><!-- maximum velocity and acceleration the drone will reach --><arg name="max_vel" value="2.0" /><arg name="max_acc" value="6.0" /><!--always set to 1.5 times grater than sensing horizen--><arg name="planning_horizon" value="7.5" /><arg name="use_distinctive_trajs" value="true" /><!-- 1: use 2D Nav Goal to select goal --><!-- 2: use global waypoints below --><arg name="flight_type" value="1" /><!-- global waypoints --><!-- It generates a piecewise min-snap traj passing all waypoints --><arg name="point_num" value="4" /><arg name="point0_x" value="15" /><arg name="point0_y" value="0" /><arg name="point0_z" value="1" /><arg name="point1_x" value="-15.0" /><arg name="point1_y" value="0.0" /><arg name="point1_z" value="1.0" /><arg name="point2_x" value="15.0" /><arg name="point2_y" value="0.0" /><arg name="point2_z" value="1.0" /><arg name="point3_x" value="-15.0" /><arg name="point3_y" value="0.0" /><arg name="point3_z" value="1.0" /><arg name="point4_x" value="15.0" /><arg name="point4_y" value="0.0" /><arg name="point4_z" value="1.0" /></include><!-- trajectory server --><node pkg="ego_planner" name="drone_$(arg drone_id)_traj_server" type="traj_server" output="screen"><remap from="position_cmd" to="drone_$(arg drone_id)_planning/pos_cmd"/><remap from="~planning/bspline" to="drone_$(arg drone_id)_planning/bspline"/><param name="traj_server/time_forward" value="1.0" type="double"/></node><node name="rviz" pkg="rviz" type="rviz" args="-d $(find ego_planner)/launch/sim.rviz" required="true" /><!-- use simulator --><include file="$(find ego_planner)/launch/simulator.xml"><arg name="drone_id" value="$(arg drone_id)"/><arg name="map_size_x_" value="$(arg map_size_x)"/><arg name="map_size_y_" value="$(arg map_size_y)"/><arg name="map_size_z_" value="$(arg map_size_z)"/><arg name="init_x_" value="-15"/><arg name="init_y_" value="0"/><arg name="init_z_" value="0.1"/><arg name="odometry_topic" value="$(arg odom_topic)" /></include>
</launch>然后编译再运行
catkin_make
source devel/setup.bash
roslaunch ego_planner single_run_in_sim.launch出现如下
然后rviz显示
roslaunch ego_planner rviz.launch出现
效果可以
