Autonomous 250mm quadrotor: Livox Mid-360 + FAST-LIO2 / DLIO LiDAR-inertial localization + EGO-Planner navigation, on Jetson Orin NX & PX4 (EN / 中文)

This repository is for setting up FAST LIO2 on ROS2 Jazzy in Ubuntu 24.04. It is not intended for WSL which may require additional troubleshooting. This repository also contains an updated config file (the minimal changes are already listed in the README), commands to run FAST LIO2 (and LIVOX), and screenshots of it working.

This open-source repository provides a ROS2 mapping, localization, navigation, and obstacle-avoidance engineering system for a quadruped robot running on real hardware.