1.安装依赖# 系统依赖 sudo apt update sudo apt install -y libeigen3-dev libpcl-dev # ROS2 依赖 sudo apt install -y ros-humble-pcl-conversions ros-humble-pcl-ros2.功能包包1fast_lio2https://github.com/Ericsii/FAST_LIO_ROS2下载压缩包解压到工作空间src文件夹下包2ikd-Treehttps://github.com/hku-mars/ikd-Tree下载压缩包解压到工作空间src/FAST_LIO_ROS2/include文件夹下将ikd-Tree中ikd-Tree下的.cpp及.h移动至上一级别文件夹3.编译cd ~/ws colcon build --packages-select fast_lio --symlink-install source install/setup.bash4.配置文件修改nano ~/ws/src/FAST_LIO_ROS2/config/mid360.yaml如果有需要可以进行雷达参数修改。5.启动建图启动livox驱动终端1cd ~/ws source install/setup.bash ros2 launch livox_ros_driver2 msg_MID360s_launch.py启动fast-lio终端2cd ~/ws source install/setup.bash ros2 launch ~/ws/src/FAST_LIO_ROS2/launch/mapping.launch.py config_file:mid360.yaml6.调用服务保存地图终端3source /opt/ros/humble/setup.bash source ~/ws/install/setup.bash ros2 service call /map_save std_srvs/srv/Trigger {}response:std_srvs.srv.Trigger_Response(successTrue, messageMap saved.)7.查看地图安装pcl工具sudo apt update sudo apt install pcl-tools查看地图pcl_viewer ~/ws/maps/scans.pcd