Support for L515

[satyajitghana]

Hey, do you guys have any pointers on how to integrate L515 with FAST_LIO

I've seen https://github.com/hku-mars/FAST_LIO/blob/c8aea0dd95e4f78203b79329dd59ccdd687c1bd7/src/preprocess.cpp#L49-L66

And also seen the specific handers for each lidar, but i am not able to figure out how to write a l515_handler, in specific i can't figure out the processing function to convert the PCL data from L515 into PointCloudXYZI format.

[XW-HKU]

integrate l515 is a little bit complicate.

First, if you can get the pointcloud2 topic same as velodyne,then you do not need to modify preprocess.cpp.

Besides, since the l515's a lidar frame is sampled at a same time, not like velodyne that sampled as a sequence of time, So you need to close the backward propagation in imu_processing.cpp

In the end, you should set the filter_size_surf and filter_size_map to smaller ones.

[Leonard-Yao]

@XW-HKU Hi , I run FAST_LIO with L515, and found pointcloud topic hadn't include 'intensity', 'time' or 'ring' item. So I want to know if those items are necessary?

[gongyue666]

@Leonard-Yao can it work with L515? I am trying to do the same thing .

[XW-HKU]

@Leonard-Yao can it work with L515? I am trying to do the same thing .

the support for L515 will soon be released

[Leonard-Yao]

@Leonard-Yao can it work with L515? I am trying to do the same thing .

the support for L515 will soon be released

@XW-HKU cheers and looking forward to. Please let me know if it`s released, thanks advance.

[Leonard-Yao]

@gongyue666 It can work, but not stable.

[zjz0001]

@Leonard-Yao它可以与 L515 一起使用吗？我正在尝试做同样的事情。

L515的支持即将发布

期待！

[Taeyoung96]

@Leonard-Yao
How could you set the launch file when you use realsense l515?
Do you have any tips?

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