Using Livox Mid-360 with Slam Toolbox for lifelong mapping and localization

[samerhanoun]

Hi,
Any chance you can explain on how to use the Livox Mid-360 with the provided livox_ros_driver2 with the slam toolbox for generatting 2D occupancy maps? We can do this eaily with Sick S300 lasers.

Indeed we can use the pointcloud_to_laserscan converted to get to the slam toolbox the necessary laserscans; however, can't see where and how the livox_ros_driver2 produces the tf2 required for the pointcloud_to_laserscan?

Thanks in advance.

[RomanStadlhuber]

I'd suggest you have a look into either open3d_slam which is an MIT-Licensed LiDAR-only graph based SLAM or Fast-LIO, which is specifically developed to work with Livox' custom Point Cloud message, and also fuses the IMU, albeit that it's GPL-2.0 licensed.

I can confirm that both of these methods work with Mid-360 and output TFs of the LiDAR/IMU pose respectively.