From eda34a534b080011ddbaea862337252e544c144d Mon Sep 17 00:00:00 2001 From: "Cris.Wei" <18547249+XW-HKU@users.noreply.github.com> Date: Mon, 18 Jan 2021 12:03:29 +0800 Subject: [PATCH] Update README.md --- README.md | 13 ++++--------- 1 file changed, 4 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index 50217db..cc36f52 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,8 @@ 3. Parallel KD-Tree Search to decrease the computation; 4. Robust feature extraction; +It should be noted current version of FAST-LIO does not support Velodyne LiDAR, we may support them in the future. + **Developers** [Wei Xu 徐威](https://github.com/XW-HKU): Laser mapping and pose optimization; @@ -52,7 +54,7 @@ Clone the repository and catkin_make: source devel/setup.bash ``` ## 3. Directly run -### 3.1 For indoor environments and high frame-rate (maximum 100hz) +### 3.1 For indoor environments (support maximum 50hz frame rate) Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then ``` .... @@ -81,14 +83,7 @@ Download [avia_indoor_quick_shake_example1](https://drive.google.com/file/d/1SWm roslaunch fast_lio mapping_avia.launch rosbag play YOUR_DOWNLOADED.bag ``` -### 4.2 High-rate rosbag (Livox Avia LiDAR with 100Hz frame-rate) - -Download [high_rate_avia](https://drive.google.com/file/d/1UM6O3PRN3b730ZeuvKKT3yuOLNQuz8Yf/view?usp=sharing) and then -``` -roslaunch fast_lio mapping_avia.launch -rosbag play YOUR_DOWNLOADED.bag -``` -### 4.3 Outdoor rosbag (Livox Avia LiDAR) +### 4.2 Outdoor rosbag (Livox Avia LiDAR)