duru_lio_ws

azmo/duru_lio_ws

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Author	SHA1	Message	Date
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	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

Author

SHA1

Message

Date

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

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

2 Commits