From 7ab76721638104d1274067a992ac2b4303eead54 Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Wed, 15 May 2024 13:04:16 +0800 Subject: [PATCH 1/6] repos: use pinned versions instead of branches --- livox_mapping.repos | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/livox_mapping.repos b/livox_mapping.repos index ddd452d..6d4ea01 100644 --- a/livox_mapping.repos +++ b/livox_mapping.repos @@ -2,12 +2,12 @@ repositories: lio_sam: type: git url: https://github.com/westonrobot/lio_sam.git - version: devel + version: 0a5ef15311f60ee219f6a4a6e77bcb2b5d012d5a livox_ros_driver2: type: git url: https://github.com/westonrobot/livox_ros_driver2.git - version: devel + version: 16a3738ad477a1eb1766c55f09d7415c8236516f wrp_ros2: type: git url: https://github.com/westonrobot/wrp_ros2.git - version: devel + version: 30431fd002b7e0a67c295bbf87ab1dc9d5cbb7ee From 88d0acf2de8b174a4151a01112fa37223c3688a2 Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Wed, 15 May 2024 13:12:13 +0800 Subject: [PATCH 2/6] docs: update README --- README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README.md b/README.md index f246a2c..5a69515 100644 --- a/README.md +++ b/README.md @@ -99,3 +99,9 @@ $ ros2 run rviz2 rviz2 ``` You can clone this repository to your computer and load the rviz configuration located at "src/sample_launch/config/rviz2.rviz". + +## Notes +1. Depending on the specific hardware configurations, you may need to modify the sample launch files and configuration files to adapt to your setup. + Take note of the below in particluar: + 1. IP addresses of the lidar and the data ports it uses. (Configuration files used can be inferred from the [launch file](./src/sample_launch/launch/livox_mapping.launch.py)). + 2. Device path of the IMU in the [launch file](./src/sample_launch/launch/livox_mapping.launch.py). \ No newline at end of file From 5ef84e177963639471435f77f98ae5f25bdfab1e Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Wed, 15 May 2024 13:47:28 +0800 Subject: [PATCH 3/6] docs: add vcstool install --- README.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/README.md b/README.md index 5a69515..3dac5f4 100644 --- a/README.md +++ b/README.md @@ -49,6 +49,11 @@ Please refer to the [CI build script](.github/workflows/default.yml) for the mos Note: you can build and install the Livox-SDK2 at your preferred places other than "~/Livox-SDK2". And you can optionally remove the "Livox-SDK2" folder after installation. +* Install vcstool **(Make sure you have ros2 installed first)** + ```bash + $ sudo apt install python3-vcstool + ``` + * Install GTSAM ```bash From c46f2713e7032de6ba2c853091d0178e597d1b20 Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Wed, 15 May 2024 13:51:45 +0800 Subject: [PATCH 4/6] docs: install dev-tools instead --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 3dac5f4..badacba 100644 --- a/README.md +++ b/README.md @@ -49,9 +49,9 @@ Please refer to the [CI build script](.github/workflows/default.yml) for the mos Note: you can build and install the Livox-SDK2 at your preferred places other than "~/Livox-SDK2". And you can optionally remove the "Livox-SDK2" folder after installation. -* Install vcstool **(Make sure you have ros2 installed first)** +* Install ros-dev-tools **(Make sure you have ros2 installed first)** ```bash - $ sudo apt install python3-vcstool + $ sudo apt install ros-dev-tools ``` * Install GTSAM From ffd60086ad9c261a7fa3edd2f7baf6895ae02577 Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Wed, 15 May 2024 13:59:03 +0800 Subject: [PATCH 5/6] docs: add lely install instructions --- README.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/README.md b/README.md index badacba..2182a35 100644 --- a/README.md +++ b/README.md @@ -33,6 +33,11 @@ Please refer to the [CI build script](.github/workflows/default.yml) for the mos $ sudo apt-get update $ sudo apt-get install wrp-sdk + + # Install drivers for peripherals + $ sudo apt-get install -y software-properties-common + $ sudo add-apt-repository ppa:lely/ppa + $ sudo apt-get update ``` Please refer to [this page](https://docs.westonrobot.net/software/installation_guide.html) for more details of the installation steps. From 0a690552edd008236816d7460cf74b4ab214437e Mon Sep 17 00:00:00 2001 From: hanskw-weston Date: Wed, 15 May 2024 14:16:44 +0800 Subject: [PATCH 6/6] docs: update how to save map instructions --- README.md | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/README.md b/README.md index 2182a35..adfa97a 100644 --- a/README.md +++ b/README.md @@ -110,6 +110,16 @@ $ ros2 run rviz2 rviz2 You can clone this repository to your computer and load the rviz configuration located at "src/sample_launch/config/rviz2.rviz". +## Saving the map +After you have finished mapping, you can save the map using lio_sam's save_map service. The service takes two arguments: resolution and destination. + * The resolution is the resolution of the map. + * The destination is the path to save the map. **NOTE: destination path is relative to the HOME folder.** + +For example, to save the map with a resolution of 0.0 to "~/Workspace/map/", you can run the following command +```bash +ros2 service call /lio_sam/save_map lio_sam/srv/SaveMap "{resolution: 0.0 , destination: "/Workspace/map/"}" +``` + ## Notes 1. Depending on the specific hardware configurations, you may need to modify the sample launch files and configuration files to adapt to your setup. Take note of the below in particluar: