3D LiDAR instead

[bravewhh]

Great job! May I ask how I can integrate the ego planner code if my sensor is a 3D LiDAR instead of a binocular camera?

[20221023lijia]

yes,you can.you need to change the corresponding topic first.

[bigsuperZZZX]

Publish point cloud in world frame to the topic /grid_map/cloud

[Wangben1019]

Publish point cloud in world frame to the topic /grid_map/cloud

请问一下具体更改方式是什么，加入我想要在真实无人机上使用Mid360+Fastlio输出里程计运行ego-planner，那么我是直接更改您指出的代码部分的点云和里程计的话题，还是在launch文件中做更改，如果直接更改代码的话是否要在launch文件中做出其他更改呢。对于部署真实无人机并做出上述更改，是使用本仓库的ego-planner更好些还是使用贵实验室开源的另一个仓库Fast-Drone-250中的代码更好一些，我发现这两个仓库有所不同

[bigsuperZZZX]

1. 直接更改源码或更改launch均可
2. 用Fast-Drone-250

[bhaskar-glitch]

1. 直接更改源码或更改launch均可

   2. 用Fast-Drone-250

Hi,

I am currently using px4ctrl ( https://github.com/ZJU-FAST-Lab/Fast-Drone-250/tree/master/src/realflight_modules/px4ctrl ) with the Fast LIO algorithm ( https://github.com/hku-mars/FAST_LIO ), running on Pixhawk Cube+ with PX4 firmware version 1.15.0 and a Livox Mid360 LiDAR for odometry.

When executing an automatic takeoff via the takeoff.sh script, the drone lifts off but starts oscillating along both the X and Z axes. Previously, I used a camera for odometry with px4ctrl, and it worked flawlessly. However, after switching to LiDAR, this oscillation issue has appeared.

I am attaching the flight log for reference. Kindly review and provide assistance. Thank you!

Flight Log:- https://drive.google.com/file/d/18RDbIVaIRgQszmVV3RXJ6CHgbowOQn8K/view?usp=drive_link

@bigsuperZZZX @Wangben1019