azmo/duru_lio_ws
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robin d0a113ee18 Publish LIO anchor frame as odom, calibrate LiDAR mount pitch, tune point filtering 
- Rename the published frame_id from camera_init to odom everywhere in laserMapping.cpp (child stays aft_mapped, matching the URDF root) so AMCL's map->odom broadcast no longer conflicts with a separate static camera_init->odom bridge in fori_ws's Nav2 launch
- Set extrinsic_R for the LiDAR's actual 20-degree nose-down mounting pitch (was identity)
- Increase point_filter_num and filter_size_surf/map for lighter point cloud load
 2026-08-27 11:45:54 +09:00
robin ba83f4f437 Exclude doc/ from version control 
Large binary docs (gifs, pdfs, images) bloated the repo and broke pushes to the server.
 2026-08-20 15:18:06 +09:00
robin e9e2e1bb42 Update run scripts for the duru_lio_ws workspace rename 
FAST_LIO was renamed to duru_lio_ws to match the repo name; point
the cd targets in the run scripts at the new path.
 2026-08-20 15:05:37 +09:00
robin bdf86b0ea4 Flatten ikd-Tree submodule into the repository 
Vendor ikd-Tree directly instead of as a git submodule so cloning
duru_lio_ws needs no --recursive/submodule-init step.
 2026-08-20 15:04:05 +09:00
robin 21fa46e802 Initial commit: FAST-LIO ROS2 workspace for duru_lio 
Clean up config/rviz assets for MID360S-only deployment and split
run scripts by role (headless LIO via ssh, rviz-only on the local
monitor, and combined run) so mapping.launch.py no longer needs
config_file passed explicitly.
 2026-08-20 14:52:36 +09:00