cutezhaoooo · cutezhaoooo · Dec 19, 2025 · Dec 19, 2025
diff --git a/FAST_LIO b/FAST_LIO
diff --git a/README.md b/README.md
@@ -45,3 +45,8 @@ ros2 run teleop_twist_keyboard teleop_twist_keyboard
 ```
 
 ros2 service call /trigger_service std_srvs/srv/SetBool "{data: true}" 
+
+重定位
+ros2 launch fast_lio localization_mid360.launch.py     map:=path/test.pcd     use_sim_time:=true
+然后通过rviz2的 2D pose Estimate发布估计位置
+观察 /global_map_viz与 /cur_scan_in_map关系是否正确即可
diff --git a/livox_ros_driver2 b/livox_ros_driver2
diff --git a/map_pub/CMakeLists.txt b/map_pub/CMakeLists.txt
diff --git a/map_pub/package.xml b/map_pub/package.xml
diff --git a/map_pub/src/map_pub.cpp b/map_pub/src/map_pub.cpp
diff --git a/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py b/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py
@@ -30,7 +30,8 @@ def get_world_config(world_type):
         },
         WorldType.RMUL: {
             'x': '4.3',
-            'y': '3.35',
+            # 'y': '3.35',
+            'y': '5.0',
             'z': '1.16',
             'yaw': '0.0',
             'world_path': 'RMUL2024_world/RMUL2024_world.world'

diff --git a/robot-relocalization/CMakeLists.txt b/robot-relocalization/CMakeLists.txt
diff --git a/robot-relocalization/cmake/Findgpu_bbs3d.cmake b/robot-relocalization/cmake/Findgpu_bbs3d.cmake
diff --git a/robot-relocalization/cmake/test_cuda_runtime.cpp b/robot-relocalization/cmake/test_cuda_runtime.cpp