fast-lio2复现:使用livox_avia

安装依赖以及ceres

sudo apt-get install libsuitesparse-dev
git clone https://github.com/ceres-solver/ceres-solver/archive/1.14.0.zip
cd ~/你新建的文件夹/ceres-solver-1.14.0
mkdir ceres-bin && cd ceres-bin
cmake …
sudo make install -j4
cd ~

下载livox_ros_driver,fast-lio2并编译

git clone https://github.com/hku-mars/FAST_LIO.git Fast_Lio_ws/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd …
catkin_make

运行

cd ~/$Fast_Lio_ws$
source devel/setup.bash
roslaunch fast_lio mapping_avia.launch
roslaunch livox_ros_driver livox_lidar_msg.launch

效果

lio_livox运行（）待完善

直接使用驱动livox_lidar.launch，拉起激光雷达获得的是sensor_msgs::PointCloud2，扫描形式为旋转。
此时无论拉起horizon.launch 还是 hap.launch 均会出现所需消息类型不匹配问题。所需类型为livox_ros_driver::CustomMsg

可尝试的解决方案：1、先修改激光雷达驱动中发