fast_lio_nav2_humanoid

Localization and navigation stack for the Unitree H1-2 using fast lio and Nav2.

Usage

python walking_controller.py

make sure the robot is under strict supervision. Unpredictable behavior like walking into objects can happen.

We recommend opening rviz not on the robots pc due to low frames.

This work is based on https://github.com/hku-mars/FAST_LIO and uses the modified livox_ros_driver2 from FAST_LIO_LOCALIZATION_HUMANOID

Name		Name	Last commit message	Last commit date
Latest commit History 10 Commits
FAST_LIO		FAST_LIO
Livox_SDK2		Livox_SDK2
fast_lio_nav2_integration		fast_lio_nav2_integration
images		images
livox_ros_driver2		livox_ros_driver2
Dockerfile		Dockerfile
README.md		README.md
docker-compose.yml		docker-compose.yml
docker-entrypoint.sh		docker-entrypoint.sh
docker_build.sh		docker_build.sh
docker_run.sh		docker_run.sh
walking_controller.py		walking_controller.py