fastlio2

四足机器人legbot跨楼层三维导航：集成 FAST-LIO 建图、PCT Planner多层全局规划、EGO/SCAN Planner局部避障与强化学习运动控制，并在 Gazebo 多层楼梯场景完成端到端验证。

GPU-accelerated FAST-LIO for ROS2 with Ouster support and Jetson Orin optimization.

This repository contains a complete autonomous navigation stack for the Unitree Go2 quadruped robot.

LiDAR-Inertial Odometry Navigation for GPS-Denied Environments

Official ROS 2 workspace for the STR Robot. An end-to-end sim-to-real autonomous driving pipeline for Ackermann-steered robots, integrating FAST-LIO/LIVO, A* planning and G-MPC for tracking.

A computationally efficient and robust LiDAR-inertial odometry package, adapted from FAST-LIO and redesigned for native Ouster LiDAR support on ROS2. It preserves the original real-time performance while removing Livox-specific dependencies.

A modern ROS 2 graphical control station for Autonomous Mobile Robots (AMR), featuring FAST-LIO2 mapping, Nav2 control, and ArUco visual following. (一款现代化的 ROS 2 自主移动机器人图形上位机，集成了 FAST-LIO2 建图、Nav2 控制与 ArUco 视觉跟随功能。)