Add FASTLIO2 with logging and auto-relocalization #1
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A few things before you can run it: To enable auto-relocalization, edit localizer.yaml: auto_relocalize: true default_pcd_path: "/path/to/your/map.pcd" initial_x: 1.0 initial_y: 2.0 initial_z: 0.0 initial_yaw: 1.57 # radians Expected Log Output [INFO] [localizer_node]: [AUTO-RELOC] Enabled with map: /path/to/map.pcd [INFO] [localizer_node]: [AUTO-RELOC] Initial pose: x=1.000, y=2.000, z=0.000, yaw=1.570 ... [INFO] [localizer_node]: [AUTO-RELOC] Triggering relocalization... [INFO] [localizer_node]: [AUTO-RELOC] Map: /path/to/map.pcd [INFO] [localizer_node]: [AUTO-RELOC] Map loaded successfully [INFO] [localizer_node]: [AUTO-RELOC] Initial guess set, waiting for localization... [INFO] [localizer_node]: [RELOCALIZE] SUCCESS - Localization converged Usage: FASTLIO2 only (SLAM): ros2 launch fastlio2 lio_launch.py FASTLIO2 + Localizer (with relocalization): ros2 launch localizer localizer_launch.py Both launch files include rviz2 automatically.
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