dockerize FAST_LIO_SLAM
- build docker image:
bash build.sh
- launch FAST-LIO2 for odometry
- launch container:
bash run.sh
, update docker volume mapping according to your condition - launch fast-lio in container:
roslaunch fast_lio mapping_ouster64_mulran.launch
- launch container:
- launch SC-PGO for loop detection and pose-graph optimization
- login container:
bash login.sh
- launch sc-pgo in container:
roslaunch aloam_velodyne fastlio_ouster64.launch
- login container:
- replay MulRun dataset, you should download the dataset first
- login container:
bash login.sh
- replay data:
roslaunch file_player file_player.launch
- login container: