Add documentation for fast-lio mapping (#76)

* Add pymdownx.details to mkdocs_extensions and update nav in mkdocs.yml * Add documentation for fast-lio mapping * Add description of FAST_LIO at first and Fix description of rosbag record and Add description how to create mapping by topic name [/livox/lidar],topic type [sensor_msgs/msg/PointCloud2] * Fix tab-name of section 8 * Add description of install-option pcl_ros and eigen, Add command creating workspace-dir at section 5 * Add source command after build * Add option --all at rosbag record by ros2 command * Add embedding links at config/mid360.yaml
CIT-Autonomous-Robot-Lab · Sep 17, 2023 · e581832 · e581832
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diff --git a/docs/document/real_machine/mapping/fast_lio.md b/docs/document/real_machine/mapping/fast_lio.md
@@ -0,0 +1,243 @@
+---
+title: FAST_LIOで地図作成マニュアル
+summary: LIVOX MID-360・FAST_LIOで地図作成
+authors:
+    - Ikuo Shige
+date: 2023-09-11
+---
+
+# FAST_LIOで地図作成マニュアル
+
+## 0. FAST_LIOについて
+
+FAST-LIO（Fast LiDAR-Inertial Odometry）は、計算効率が高くて頑強なLiDAR-慣性オドメトリパッケージです。
+
+LiDARの特徴点とIMUデータを緊密に結合し、高速動作、ノイズの多い環境、または雑多な環境での頑強なナビゲーションを可能にするために、反復拡張カルマンフィルタを使用している。
+
+- オリジナル: 
+<iframe class="hatenablogcard" style="width:100%;height:155px;max-width:680px;" title="%text%" src="https://hatenablog-parts.com/embed?url=https://github.com/hku-mars/FAST_LIO" width="400" height="150" frameborder="0" scrolling="no"> </iframe> 
+
+- 使用するリポジトリ: 
+<iframe class="hatenablogcard" style="width:100%;height:155px;max-width:680px;" title="%text%" src="https://hatenablog-parts.com/embed?url=https://github.com/Ericsii/FAST_LIO" width="300" height="150" frameborder="0" scrolling="no"> </iframe> 
+
+## 1. 前提条件
+
+- PCL >= 1.8 (テスト環境: 1.12)
+- Eigen >= 3.3.4 (テスト環境: 3.4.0)
+
+## 2. pcl_rosのインストール
+
+```bash
+sudo apt install -y ros-$ROS_DISTRO-pcl-*
+```
+
+## 3. Eigenのインストール
+
+```bash
+sudo apt install -y libeigen3-dev
+```
+
+## 4. LIVOXドライバのインストール
+
+???+ note "LIVOX MID-360の環境構築"
+    **[LIVOX MID-360 環境構築](./../set_up/livox.md)**が**全て**済んでいる場合は飛ばしてください
+
+    <!-- ???+ LIVOXMID-360の環境構築 -->
+    !!! warning 
+        `FAST_LIO`とは別のワークスペースを分ける
+
+    ### 4.1 新規ワークスペースの作成
+    ```bash
+    mkdir $HOME/livox_ws/src -p && cd $HOME/livox_ws/src
+    ```
+
+    ### 4.2 ドライバのclone
+
+    ```bash
+    git clone https://github.com/Livox-SDK/Livox-SDK2
+    git clone https://github.com/Livox-SDK/livox_ros_driver2
+    ```
+
+    ### 4.3 build.sh:
+    ```bash
+    sed -i 's/colcon build --cmake-args -DROS_EDITION=${VERSION_ROS2} -DHUMBLE_ROS=${ROS_HUMBLE}/colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DROS_EDITION=${VERSION_ROS2} -DHUMBLE_ROS=${ROS_HUMBLE}/' $HOME/livox_ws/src/livox_ros_driver2/build.sh
+
+    ```
+
+    ```diff
+    -    colcon build --cmake-args -DROS_EDITION=${VERSION_ROS2} -DHUMBLE_ROS=${ROS_HUMBLE}
+    +    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DROS_EDITION=${VERSION_ROS2} -DHUMBLE_ROS=${ROS_HUMBLE}
+    ```
+
+    ### 4.4 hostpcとLIVOXのIPアドレスの設定
+
+    ```bash
+    sed -i "s/192.168.1.5/192.168.1.50/g" $HOME/livox_ws/src/livox_ros_driver2/config/MID360_config.json
+    sed -i "s/192.168.1.12/192.168.1.119/g" $HOME/livox_ws/src/livox_ros_driver2/config/MID360_config.json
+    ```
+
+    !!! example
+
+        **`192.168.1.50`**: 有線のプロファイルで設定したIPアドレス
+
+        **`192.168.1.119`**: シリアル番号から取得したLIVOXのIPアドレス
+
+    ### 4.5 build
+
+    ```bash
+    cd $HOME/livox_ws/src/Livox-SDK2/ && mkdir build && cd build
+    cmake .. && make -j
+    sudo make install
+    cd $HOME/livox_ws/src/livox_ros_driver2/
+    ./build.sh humble
+    source /opt/ros/humble/setup.sh
+    source $HOME/livox_ws/install/setup.bash
+    ```
+
+    ### 4.6 実行
+
+    ```bash
+    ros2 launch livox_ros_driver2 rviz_MID360_launch.py
+    ros2 topic list -t
+    ```
+
+    !!! success
+        `$ ros2 topic list -t` の出力
+        ```bash
+        /clicked_point [geometry_msgs/msg/PointStamped]
+        /initialpose [geometry_msgs/msg/PoseWithCovarianceStamped]
+        /livox/imu [sensor_msgs/msg/Imu]
+        /livox/lidar [sensor_msgs/msg/PointCloud2]
+        /move_base_simple/goal [geometry_msgs/msg/PoseStamped]
+        /parameter_events [rcl_interfaces/msg/ParameterEvent]
+        /rosout [rcl_interfaces/msg/Log]
+        /tf [tf2_msgs/msg/TFMessage]
+        /tf_static [tf2_msgs/msg/TFMessage]
+        ```
+
+    <!-- ```bash
+    $ mkdir -p $HOME/livox_ws/src
+    $ cd $HOME/livox_ws/src
+    $ git clone https://github.com/Livox-SDK/Livox-SDK2.git
+    $ cd Livox-SDK2/
+    $ mkdir build
+    $ cd build
+    $ cmake .. && make -j
+    $ sudo make install
+    $ cd $HOME/livox_ws/src
+    $ git clone https://github.com/Livox-SDK/livox_ros_driver2
+    $ cd livox_ros_driver2
+    $ ./build.sh humble
+    ``` -->
+
+## 5. FAST_LIOのインストール
+
+```bash
+mkdir -p $HOME/ros2_ws/src && cd $HOME/ros2_ws/src/
+git clone https://github.com/Ericsii/FAST_LIO.git
+cd FAST_LIO
+git submodule update --init
+cd $HOME/ros2_ws/
+source $HOME/livox_ws/install/setup.bash
+colcon build --symlink-install --packages-select fast_lio
+source $HOME/ros2_ws/install/setup.bash
+```
+
+!!! Tip
+    ROS 2ワークスペースのパスは自分の環境に合わせて適宜変更してください
+
+## 6. ビルドに失敗した場合
+
+- CMakelists.txtのADD_COMPILE_OPTIONSを修正
+
+```diff linenums="9"
+-ADD_COMPILE_OPTIONS(-std=c++14)
++ADD_COMPILE_OPTIONS(-std=c++17)
+```
+
+## 7. 動作確認
+```bash
+ros2 launch livox_ros_driver2 msg_MID360_launch.py
+ros2 launch fast_lio mapping.launch.py
+ros2 service call /map_save std_srvs/srv/Trigger
+```
+
+!!! note
+    `ros2 service call /map_save std_srvs/srv/Trigger`を実行したディレクトリに`test.pcd`という名前のファイルが保存される
+
+!!! tip 
+    **ファイルパスを変更したい場合**:
+
+    - [`config/mid360.yaml`](https://github.com/Ericsii/FAST_LIO/blob/206855b1f9410c1e1b0e84c46053adfcd070256e/config/mid360.yaml#L3)の`map_file_path: `を変更する
+
+    ```diff linenums="3"
+    -        map_file_path: "./test.pcd"
+    +        map_file_path: "<path_to_your_map_file>"
+    ```
+
+
+
+## 8. rosbagの取得
+
+=== "rosbag record by launch file"
+
+    ```bash
+    ros2 launch livox_ros_driver2 msg_MID360_launch.py
+    ros2 launch raspicat_bringup rosbag_record.launch.py rosbag_path:=$HOME/rosbag_mapping
+    ```
+
+    !!! info
+        **topicを指定したい場合**
+        ```bash
+        ros2 launch raspicat_bringup rosbag_record.launch.py \
+            rosbag_path:=$HOME/rosbag_mapping \
+            topics:=/odom \
+                    /point_raw \
+                    /pointcloud_map \
+                    /ekf_pose_with_covariance
+        ```
+
+=== "rosbag record by ros2 command"
+
+    ```bash
+    ros2 launch livox_ros_driver2 msg_MID360_launch.py
+    ros2 bag record -o ${HOME}/rosbag_mapping --all
+    ```
+
+    !!! info
+        **topicを指定したい場合**
+        ```bash
+        ros2 bag record -o ${HOME}/rosbag_mapping \
+            /odom \
+            /point_raw \
+            /pointcloud_map \
+            /ekf_pose_with_covariance
+        ```
+
+## 9. rosbagを再生して地図作成
+
+!!! tip
+    **`/livox/lidar`のtopicの型が`sensor_msgs/msg/PointCloud2`で地図作成したい場合**:
+
+    - [`config/mid360.yaml`](https://github.com/Ericsii/FAST_LIO/blob/206855b1f9410c1e1b0e84c46053adfcd070256e/config/mid360.yaml#L12)の`lidar_type: `を変更する
+
+    ```diff linenums="11"
+            preprocess:
+    -           lidar_type: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input
+    +           lidar_type: 4                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input
+    ```
+    `lidar_type: 1`だと、`/livox/lidar`のtopicの型が`livox_ros_driver2/msg/CustomMsg`となる
+
+```bash
+ros2 launch fast_lio mapping.launch.py config_path:=$HOME/ros2_ws/src/FAST_LIO/config/mid360.yaml
+ros2 bag play -r 1 --clock 100 $HOME/rosbag_mapping
+# rosbag再生終了後、地図を取得
+ros2 service call /map_save std_srvs/srv/Trigger
+```
+
+<!-- 
+## 10. 参考
+
+<iframe class="hatenablogcard" style="width:100%;height:155px;max-width:680px;" title="%text%" src="https://hatenablog-parts.com/embed?url=https://qiita.com/porizou1/items/b7e779862ef85f4712b4" width="300" height="150" frameborder="0" scrolling="no"> </iframe> 
+-->
+
diff --git a/mkdocs.yml b/mkdocs.yml
@@ -97,6 +97,7 @@ nav:
       - 時刻同期: document/real_machine/time_synchronization/time_synchronization.md
     - Mapping: 
       - 地図作成: document/real_machine/mapping/mapping.md
+      - FAST_LIOで地図作成: document/real_machine/mapping/fast_lio.md
     - Navigation:
       - ナビゲーション: document/real_machine/navigation/navigation.md
       - ウェイポイント ナビゲーション: document/real_machine/navigation/waypoint_navigation.md