Fastlio2 Integration and Life Cycle Node Updates #4
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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.
Enable proper TF synchronization when playing back bagfiles with ros2 bag play --clock. Defaults to true for bagfile mode.
launch.actions.SetParameter only exists in Humble; Jazzy requires launch_ros.actions.SetParameter. The launch_ros import works on both.
- Multi-stage Dockerfile (build + runtime) for all ROS 2 packages - docker-compose.yml for deployment (Docker 24.x compatible) - build.sh to build, tag, and push to iserverobotics/nav_autonomy - .env for hardware configuration (lidar, motor, network) - .dockerignore to exclude build artifacts from context
- Add ros-foxglove-bridge to Dockerfile runtime dependencies - Launch foxglove_bridge on port 8765 in docker-compose command - Default to use_fastlio2:=true in launch command
- Convert all 7 SLAM nodes to lifecycle nodes (FASTLIO2 + arise_slam) - Add handle_once=True to prevent re-activation loops - Add foxglove relay scripts (twist, goal/autonomy) - Update Docker and launch files
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