update readme; update launch; remove redundant files

2023-05-28 12:51:38 +08:00 · 2021-08-08 23:09:40 +08:00
parent 8fbffa2802
commit aa31e7c405
45 changed files with 666 additions and 3569 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -6,3 +6,5 @@ Log/*.pdf
 .vscode/c_cpp_properties.json
 .vscode/settings.json
 PCD/*.pcd
+.idea
+cmake-build-debug
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(fast_lio)
+project(fast_lio_localization)

 SET(CMAKE_BUILD_TYPE "Debug")

--- a/README.md
+++ b/README.md
@@ -1,83 +1,52 @@
-## Related Works
+# FAST-LIO-LOCALIZATION

-1. [ikd-Tree](https://github.com/hku-mars/ikd-Tree): A state-of-art dynamic KD-Tree for 3D kNN search.
-2. [IKFOM](https://github.com/hku-mars/IKFoM): A Toolbox for fast and high-precision on-manifold Kalman filter.
-3. [UAV Avoiding Dynamic Obstacles](https://github.com/hku-mars/dyn_small_obs_avoidance): One of the implementation of FAST-LIO in robot's planning.
-4. [R2LIVE](https://github.com/hku-mars/r2live): A high-precision LiDAR-inertial-Vision fusion work using FAST-LIO as LiDAR-inertial front-end.
-5. [UGV Demo](https://www.youtube.com/watch?v=wikgrQbE6Cs): Model Predictive Control for Trajectory Tracking on Differentiable Manifolds.
-6. [FAST-LIO-SLAM](https://github.com/gisbi-kim/FAST_LIO_SLAM): The integration of FAST-LIO with [Scan-Context](https://github.com/irapkaist/scancontext) **loop closure** module.
+A simple localization framework that can re-localize in built maps based on [FAST-LIO](https://github.com/hku-mars/FAST_LIO). 

-## FAST-LIO
-**FAST-LIO** (Fast LiDAR-Inertial Odometry) is a computationally efficient and robust LiDAR-inertial odometry package. It fuses LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion, noisy or cluttered environments where degeneration occurs. Our package address many key issues:
-1. Fast iterated Kalman filter for odometry optimization;
-2. Automaticaly initialized at most steady environments;
-3. Parallel KD-Tree Search to decrease the computation;
+## Features
+- Realtime 3D global localization in a pre-built point cloud map. 
+  By fusing low-frequency global localization (about 0.5~0.2Hz), and high-frequency odometry from FAST-LIO, the entire system is computationally efficient.
+
+<div align="center"><img src="doc/demo.GIF" width=100% /></div>
+
+- Eliminate the accumulative error of odometry.
+
+<div align="center"><img src="doc/demo_accu.GIF" width=100% /></div>
+
+- The initial localization can be provided either by rough manual estimation from RVIZ, or pose from another sensor/algorithm.

-## FAST-LIO 2.0 (2021-07-05 Update)
 <!-- ![image](doc/real_experiment2.gif) -->
 <!-- [![Watch the video](doc/real_exp_2.png)](https://youtu.be/2OvjGnxszf8) -->
-<div align="left">
-<img src="doc/real_experiment2.gif" width=49.6% />
-<img src="doc/ulhkwh_fastlio.gif" width = 49.6% >
-</div>
-
-**Related video:**  [FAST-LIO2](https://youtu.be/2OvjGnxszf8),  [FAST-LIO1](https://youtu.be/iYCY6T79oNU),  [FAST-LIO2 + Scan-context Loop Closure](https://www.youtube.com/watch?v=nu8j4yaBMnw)
-
-**Pipeline:**
 <div align="center">
-<img src="doc/overview_fastlio2.svg" width=99% />
+<img src="doc/demo_init.GIF" width=49.6% />
+<img src="doc/demo_init_2.GIF" width = 49.6% >
 </div>

-**New Features:**
-1. Incremental mapping using [ikd-Tree](https://github.com/hku-mars/ikd-Tree), achieve faster speed and over 100Hz LiDAR rate.
-2. Direct odometry (scan to map) on Raw LiDAR points (feature extraction can be disabled), achieving better accuracy.
-3. Since no requirements for feature extraction, FAST-LIO2 can support may types of LiDAR including spinning (Velodyne, Ouster) and solid-state (Livox Avia, Horizon, MID-70) LiDARs, and can be easily extended to support more LiDARs.
-4. Support external IMU.
-5. Support ARM-based platforms including Khadas VIM3, Nivida TX2, Raspberry Pi 4B(8G RAM).

-**Related papers**: 
+## Prerequisites
+### 1.1 Dependencies for FAST-LIO

-[FAST-LIO2: Fast Direct LiDAR-inertial Odometry](doc/Fast_LIO_2.pdf)
+Technically, if you have built and run FAST-LIO before, you may skip this section.

-[FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter](https://arxiv.org/abs/2010.08196)
+This part of dependency is consistent with FAST-LIO, please refer to the documentation https://github.com/hku-mars/FAST_LIO#1-prerequisites

-**Contributors**
+### 1.2 Dependencies for localization module

-[Wei Xu 徐威](https://github.com/XW-HKU)，[Yixi Cai 蔡逸熙](https://github.com/Ecstasy-EC)，[Dongjiao He 贺东娇](https://github.com/Joanna-HE)，[Fangcheng Zhu 朱方程](https://github.com/zfc-zfc)，[Jiarong Lin 林家荣](https://github.com/ziv-lin)，[Zheng Liu 刘政](https://github.com/Zale-Liu), [Borong Yuan](https://github.com/borongyuan)
+- python 2.7

-<!-- <div align="center">
-    <img src="doc/results/HKU_HW.png" width = 49% >
-    <img src="doc/results/HKU_MB_001.png" width = 49% >
-</div> -->
+- [ros_numpy](https://github.com/eric-wieser/ros_numpy)

-## 1. Prerequisites
-### 1.1 **Ubuntu** and **ROS**
-**Ubuntu >= 16.04**
-
-For **Ubuntu 18.04 or higher**, the **default** PCL and Eigen is enough for FAST-LIO to work normally.
-
-ROS    >= Melodic. [ROS Installation](http://wiki.ros.org/ROS/Installation)
-
-### 1.2. **PCL && Eigen**
-PCL    >= 1.8,   Follow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).
-
-Eigen  >= 3.3.4, Follow [Eigen Installation](http://eigen.tuxfamily.org/index.php?title=Main_Page).
-
-### 1.3. **livox_ros_driver**
-Follow [livox_ros_driver Installation](https://github.com/Livox-SDK/livox_ros_driver).
-
-*Remarks:*
- Since the FAST-LIO must support Livox serials LiDAR firstly, so the **livox_ros_driver** must be installed and **sourced** before run any FAST-LIO luanch file.
- How to source? The easiest way is add the line ``` source $Licox_ros_driver_dir$/devel/setup.bash ``` to the end of file ``` ~/.bashrc ```, where ``` $Licox_ros_driver_dir$ ``` is the directory of the livox ros driver workspace (should be the ``` ws_livox ``` directory if you completely followed the livox official document).
+- [python-pcl](https://github.com/strawlab/python-pcl)

+Notice that, if using **Ubuntu 18.04** with native **PCL 1.8**, there may be issue after installing **python-pcl** through pip,
+  please refer to https://github.com/barrygxwan/Python-PCL-Ubuntu18.04, download the **.whl** file and then install.

 ## 2. Build
 Clone the repository and catkin_make:

 ```
    cd ~/$A_ROS_DIR$/src
-    git clone https://github.com/hku-mars/FAST_LIO.git
-    cd FAST_LIO
+    git clone https://github.com/hviktortsoi/FAST_LIO_LOCALIZATION.git
+    cd FAST_LIO_LOCALIZATION
    git submodule update --init
    cd ../..
    catkin_make
@@ -86,106 +55,61 @@ Clone the repository and catkin_make:
 - Remember to source the livox_ros_driver before build (follow 1.3 **livox_ros_driver**)
 - If you want to use a custom build of PCL, add the following line to ~/.bashrc
  ```export PCL_ROOT={CUSTOM_PCL_PATH}```
-## 3. Directly run

-Please make sure the IMU and LiDAR are **Synchronized**, that's important.
-### 3.1 For Avia
-Connect to your PC to Livox Avia LiDAR by following  [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
+
+## 3. Run Localization
+### Sample Dataset
+
+Demo rosbag in a large underground garage: 
+[Baidu Pan (Code: ne8d)](https://pan.baidu.com/s/1ceBiIAUqHa1vY3QjWpxwNA);
+
+Corresponding map: [Baidu Pan (Code: kw6f)](https://pan.baidu.com/s/1Yw4vY3kEK8x2g-AsBi6VCw)
+
+The map can be built using LIO-SAM or FAST-LIO-SLAM.
+
+### Run
+
+1. First, please make sure you're using **Python 2.7** environment;
+
+
+2. Run localization, here we take Livox AVIA as an example:
+
+```shell
+roslaunch fast_lio_localization localization_avia.launch map:=/path/to/your/map.pcd
 ```
-    cd ~/$FAST_LIO_ROS_DIR$
-    source devel/setup.bash
-    roslaunch fast_lio mapping_avia.launch
+
+Please modify `/path/to/your/map.pcd` to your own map point cloud file path.
+
+Wait for 3~5 seconds until the map cloud shows up in RVIZ;
+
+3. If you are testing with the sample rosbag data:
+```shell
+rosbag play localization_test_scene_1.bag
+```
+
+Or if you are running realtime
+
+```shell
 roslaunch livox_ros_driver livox_lidar_msg.launch
 ```
- For livox serials, FAST-LIO only support the data collected by the ``` livox_lidar_msg.launch ``` since only its ``` livox_ros_driver/CustomMsg ``` data structure produces the timestamp of each LiDAR point which is very important for the motion undistortion. ``` livox_lidar.launch ``` can not produce it right now.
- If you want to change the frame rate, please modify the **publish_freq** parameter in the [livox_lidar_msg.launch](https://github.com/Livox-SDK/livox_ros_driver/blob/master/livox_ros_driver/launch/livox_lidar_msg.launch) of [Livox-ros-driver](https://github.com/Livox-SDK/livox_ros_driver) before make the livox_ros_driver pakage.

-### 3.2 For Livox serials with external IMU
-
-mapping_avia.launch theratically supports mid-70, mid-40 or other livox serial LiDAR, but need to setup some parameters befor run:
-
-Edit ``` config/avia.yaml ``` to set the below parameters:
-
-1. LiDAR point cloud topic name: ``` lid_topic ```
-2. IMU topic name: ``` imu_topic ```
-3. Translational extrinsic: ``` extrinsic_T ```
-4. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix)
- The extrinsic parameters in FAST-LIO is defined as the LiDAR's pose (position and rotation matrix) in IMU body frame (i.e. the IMU is the base frame). They can be found in the official manual.
- FAST-LIO produces a very simple software time sync for livox LiDAR, set parameter ```time_sync_en``` to ture to turn on. But turn on **ONLY IF external time synchronization is really not possible**, since the software time sync cannot make sure accuracy.
-
-### 3.3 For Velodyne or Ouster (Velodyne as an example)
-
-Step A: Setup before run
-
-Edit ``` config/velodyne.yaml ``` to set the below parameters:
-
-1. LiDAR point cloud topic name: ``` lid_topic ```
-2. IMU topic name: ``` imu_topic ``` (both internal and external, 6-aixes or 9-axies are fine)
-3. Line number (we tested 16, 32 and 64 line, but not tested 128 or above): ``` scan_line ```
-4. Translational extrinsic: ``` extrinsic_T ```
-5. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix)
- The extrinsic parameters in FAST-LIO is defined as the LiDAR's pose (position and rotation matrix) in IMU body frame (i.e. the IMU is the base frame).
-
-Step B: Run below
-```
-    cd ~/$FAST_LIO_ROS_DIR$
-    source devel/setup.bash
-    roslaunch fast_lio mapping_velodyne.launch
+4. Provide initial pose
+```shell
+rosrun fast_lio_localization publish_initial_pose.py 14.5 -7.5 0 -0.25 0 0 
 ```
+The numerical value **14.5 -7.5 0 -0.25 0 0** denotes 6D pose **x y z yaw pitch roll** in map frame, 
+which is a rough initial guess for **localization_test_scene_1.bag**. 

-Step C: Run LiDAR's ros driver or play rosbag.
+The initial guess can also be provided by the '2D Pose Estimate' Tool in RVIZ.

-*Remarks:*
- We will produce some velodyne datasets which is already transfered to Rosbags, please wait for a while.
+Note that, during the initialization stage, it's better to keep the robot still. Or if you play bags, fistly play the bag for about 0.5s, and then pause the bag until the initialization succeed. 

-### 3.4 PCD file save

-Set ``` pcd_save_enable ``` in launchfile to ``` 1 ```. All the scans (in global frame) will be accumulated and saved to the file ``` FAST_LIO/PCD/scans.pcd ``` after the FAST-LIO is terminated. ```pcl_viewer scans.pcd``` can visualize the point clouds.
+## Related Works
+1. [FAST-LIO](https://github.com/hku-mars/FAST_LIO): A computationally efficient and robust LiDAR-inertial odometry (LIO) package
+2. [FAST-LIO-SLAM](https://github.com/gisbi-kim/FAST_LIO_SLAM): The integration of FAST-LIO with [Scan-Context](https://github.com/irapkaist/scancontext) **loop closure** module.
+3. [LIO-SAM_based_relocalization](https://github.com/Gaochao-hit/LIO-SAM_based_relocalization): A simple system that can relocalize a robot on a built map based on LIO-SAM.

-*Tips for pcl_viewer:*
- change what to visualize/color by pressing keyboard 1,2,3,4,5 when pcl_viewer is running. 
-```
-    1 is all random
-    2 is X values
-    3 is Y values
-    4 is Z values
-    5 is intensity
-```

-## 4. Rosbag Example
-### 4.1 Indoor rosbag (Livox Avia LiDAR)
-
-<div align="center"><img src="doc/results/HKU_LG_Indoor.png" width=100% /></div>
-
-Download [avia_indoor_quick_shake_example1](https://drive.google.com/file/d/1SWmrwlUD5FlyA-bTr1rakIYx1GxS4xNl/view?usp=sharing) or [avia_indoor_quick_shake_example2](https://drive.google.com/file/d/1wD485CIbzZlNs4z8e20Dv2Q1q-7Gv_AT/view?usp=sharing) and then
-```
-roslaunch fast_lio mapping_avia.launch
-rosbag play YOUR_DOWNLOADED.bag
-
-```
-
-### 4.2 Outdoor rosbag (Livox Avia LiDAR)
-
-<div align="center"><img src="doc/results/HKU_MB_002.png" width=100% /></div>
-
-<!-- <div align="center"><img src="doc/results/mid40_outdoor.png" width=90% /></div> -->
-
-Download [avia_hku_main building_mapping](https://drive.google.com/file/d/1GSb9eLQuwqmgI3VWSB5ApEUhOCFG_Sv5/view?usp=sharing) and then
-```
-roslaunch fast_lio mapping_avia.launch
-rosbag play YOUR_DOWNLOADED.bag
-```
-
-## 5.Implementation on UAV
-In order to validate the robustness and computational efficiency of FAST-LIO in actual mobile robots, we build a small-scale quadrotor which can carry a Livox Avia LiDAR with 70 degree FoV and a DJI Manifold 2-C onboard computer with a 1.8 GHz Intel i7-8550U CPU and 8 G RAM, as shown in below.
-
-The main structure of this UAV is 3d printed (Aluminum or PLA), the .stl file will be open-sourced in the future.
-
-<div align="center">
-    <img src="doc/uav01.jpg" width=40.5% >
-    <img src="doc/uav_system.png" width=57% >
-</div>
-
-## 6.Acknowledgments
-
-Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), [Livox_Mapping](https://github.com/Livox-SDK/livox_mapping), [LINS](https://github.com/ChaoqinRobotics/LINS---LiDAR-inertial-SLAM) and [Loam_Livox](https://github.com/hku-mars/loam_livox).
+## Acknowledgments
+Thanks for the authors of [FAST-LIO](https://github.com/hku-mars/FAST_LIO) and [LIO-SAM_based_relocalization](https://github.com/Gaochao-hit/LIO-SAM_based_relocalization).
--- a/doc/avia_scan.png
+++ b/doc/avia_scan.png
--- a/doc/avia_scan2.png
+++ b/doc/avia_scan2.png
--- a/doc/Fast_LIO_2.pdf
+++ b/doc/Fast_LIO_2.pdf
--- a/doc/demo_accu.GIF
+++ b/doc/demo_accu.GIF
--- a/doc/demo_init.GIF
+++ b/doc/demo_init.GIF
--- a/doc/demo_init_2.GIF
+++ b/doc/demo_init_2.GIF
--- a/doc/overview_fastlio2.svg
+++ b/doc/overview_fastlio2.svg
--- a/doc/real_exp_2.png
+++ b/doc/real_exp_2.png
--- a/doc/real_experiment2.gif
+++ b/doc/real_experiment2.gif
--- a/doc/results/HKU_HW.png
+++ b/doc/results/HKU_HW.png
--- a/doc/results/HKU_LG_Indoor.png
+++ b/doc/results/HKU_LG_Indoor.png
--- a/doc/results/HKU_MB_001.png
+++ b/doc/results/HKU_MB_001.png
--- a/doc/results/HKU_MB_002.png
+++ b/doc/results/HKU_MB_002.png
--- a/doc/results/HKU_MB_map.png
+++ b/doc/results/HKU_MB_map.png
--- a/doc/results/Screenshot
+++ b/doc/results/Screenshot
--- a/doc/results/Screenshot
+++ b/doc/results/Screenshot
--- a/doc/results/Screenshot
+++ b/doc/results/Screenshot
--- a/doc/results/indoor_loam.png
+++ b/doc/results/indoor_loam.png
--- a/doc/results/indoor_loam_imu.png
+++ b/doc/results/indoor_loam_imu.png
--- a/doc/results/indoor_our.png
+++ b/doc/results/indoor_our.png
--- a/doc/results/long_corrid.png
+++ b/doc/results/long_corrid.png
--- a/doc/results/uav2_path.png
+++ b/doc/results/uav2_path.png
--- a/doc/results/uav2_test_map.png
+++ b/doc/results/uav2_test_map.png
--- a/doc/results/uav_lg.png
+++ b/doc/results/uav_lg.png
--- a/doc/results/uav_lg_0.png
+++ b/doc/results/uav_lg_0.png
--- a/doc/results/uav_lg_2.png
+++ b/doc/results/uav_lg_2.png
--- a/doc/uav01.jpg
+++ b/doc/uav01.jpg
--- a/doc/uav_ground.pdf
+++ b/doc/uav_ground.pdf
--- a/doc/uav_system.png
+++ b/doc/uav_system.png
--- a/doc/ulhkwh_fastlio.gif
+++ b/doc/ulhkwh_fastlio.gif
--- a/launch/localization_avia.launch
+++ b/launch/localization_avia.launch
@@ -0,0 +1,35 @@
+<launch>
+<!-- Launch file for Livox AVIA LiDAR -->
+
+	<arg name="rviz" default="true" />
+
+	<rosparam command="load" file="$(find fast_lio_localization)/config/avia.yaml" />
+
+	<param name="feature_extract_enable" type="bool" value="0"/>
+	<param name="point_filter_num" type="int" value="1"/>
+	<param name="max_iteration" type="int" value="3" />
+	<param name="filter_size_surf" type="double" value="0.5" />
+	<param name="filter_size_map" type="double" value="0.5" />
+	<param name="cube_side_length" type="double" value="1000" />
+	<param name="runtime_pos_log_enable" type="bool" value="0" />
+	<param name="pcd_save_enable" type="bool" value="0" />
+    <node pkg="fast_lio_localization" type="fastlio_mapping" name="laserMapping" output="screen" />
+
+
+	<arg name="map" default="" />
+	<!-- loalization-->
+    <node pkg="fast_lio_localization" type="global_localization.py" name="global_localization" output="screen" />
+
+	<!-- transform  fusion-->
+    <node pkg="fast_lio_localization" type="transform_fusion.py" name="transform_fusion" output="screen" />
+
+	<!-- glbal map-->
+    <node pkg="pcl_ros" type="pcd_to_pointcloud" name="map_publishe" output="screen"
+		  args="$(arg map) 5 _frame_id:=/map cloud_pcd:=/map" />
+
+
+	<group if="$(arg rviz)">
+	<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio_localization)/rviz_cfg/localization.rviz" />
+	</group>
+
+</launch>
--- a/launch/localization_horizon.launch
+++ b/launch/localization_horizon.launch
@@ -0,0 +1,34 @@
+<launch>
+<!-- Launch file for Livox Horizon LiDAR -->
+
+	<arg name="rviz" default="true" />
+
+	<rosparam command="load" file="$(find fast_lio_localization)/config/horizon.yaml" />
+
+	<param name="feature_extract_enable" type="bool" value="0"/>
+	<param name="point_filter_num" type="int" value="3"/>
+	<param name="dense_publish_enable" type="bool" value="1" />
+	<param name="filter_size_surf" type="double" value="0.5" />
+	<param name="filter_size_map" type="double" value="0.5" />
+	<param name="cube_side_length" type="double" value="1000" />
+	<param name="runtime_pos_log_enable" type="bool" value="0" />
+	<param name="pcd_save_enable" type="bool" value="0" />
+    <node pkg="fast_lio_localization" type="fastlio_mapping" name="laserMapping" output="screen"  />
+
+	<arg name="map" default="" />
+	<!-- loalization-->
+	<node pkg="fast_lio_localization" type="global_localization.py" name="global_localization" output="screen" />
+
+	<!-- transform  fusion-->
+	<node pkg="fast_lio_localization" type="transform_fusion.py" name="transform_fusion" output="screen" />
+
+	<!-- glbal map-->
+	<node pkg="pcl_ros" type="pcd_to_pointcloud" name="map_publishe" output="screen"
+		  args="$(arg map) 5 _frame_id:=/map cloud_pcd:=/map" />
+
+
+	<group if="$(arg rviz)">
+		<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio_localization)/rviz_cfg/localization.rviz" />
+	</group>
+
+</launch>
--- a/launch/localization_ouster64.launch
+++ b/launch/localization_ouster64.launch
@@ -0,0 +1,34 @@
+<launch>
+<!-- Launch file for ouster OS2-64 LiDAR -->
+
+    <arg name="rviz" default="true" />
+
+    <rosparam command="load" file="$(find fast_lio_localization)/config/ouster64.yaml" />
+
+    <param name="feature_extract_enable" type="bool" value="0"/>
+    <param name="point_filter_num" type="int" value="4"/>
+    <param name="max_iteration" type="int" value="3" />
+    <param name="filter_size_surf" type="double" value="0.5" />
+    <param name="filter_size_map" type="double" value="0.5" />
+    <param name="cube_side_length" type="double" value="1000" />
+    <param name="runtime_pos_log_enable" type="bool" value="0" />
+    <param name="pcd_save_enable" type="bool" value="0" />
+    <node pkg="fast_lio_localization" type="fastlio_mapping" name="laserMapping" output="screen" />
+
+    <arg name="map" default="" />
+    <!-- loalization-->
+    <node pkg="fast_lio_localization" type="global_localization.py" name="global_localization" output="screen" />
+
+    <!-- transform  fusion-->
+    <node pkg="fast_lio_localization" type="transform_fusion.py" name="transform_fusion" output="screen" />
+
+    <!-- glbal map-->
+    <node pkg="pcl_ros" type="pcd_to_pointcloud" name="map_publishe" output="screen"
+          args="$(arg map) 5 _frame_id:=/map cloud_pcd:=/map" />
+
+
+    <group if="$(arg rviz)">
+        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio_localization)/rviz_cfg/localization.rviz" />
+    </group>
+
+</launch>
--- a/launch/localization_velodyne.launch
+++ b/launch/localization_velodyne.launch
@@ -0,0 +1,34 @@
+<launch>
+  <!-- Launch file for velodyne16 VLP-16 LiDAR -->
+
+    <arg name="rviz" default="true" />
+
+    <rosparam command="load" file="$(find fast_lio_localization)/config/velodyne.yaml" />
+
+    <param name="feature_extract_enable" type="bool" value="0"/>
+    <param name="point_filter_num" type="int" value="4"/>
+    <param name="max_iteration" type="int" value="3" />
+    <param name="filter_size_surf" type="double" value="0.5" />
+    <param name="filter_size_map" type="double" value="0.5" />
+    <param name="cube_side_length" type="double" value="1000" />
+    <param name="runtime_pos_log_enable" type="bool" value="0" />
+    <param name="pcd_save_enable" type="bool" value="0" />
+    <node pkg="fast_lio_localization" type="fastlio_mapping" name="laserMapping" output="screen" />
+
+    <arg name="map" default="" />
+    <!-- loalization-->
+    <node pkg="fast_lio_localization" type="global_localization.py" name="global_localization" output="screen" />
+
+    <!-- transform  fusion-->
+    <node pkg="fast_lio_localization" type="transform_fusion.py" name="transform_fusion" output="screen" />
+
+    <!-- glbal map-->
+    <node pkg="pcl_ros" type="pcd_to_pointcloud" name="map_publishe" output="screen"
+          args="$(arg map) 5 _frame_id:=/map cloud_pcd:=/map" />
+
+
+    <group if="$(arg rviz)">
+      <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio_localization)/rviz_cfg/localization.rviz" />
+    </group>
+
+</launch>
--- a/launch/mapping_avia.launch
+++ b/launch/mapping_avia.launch
@@ -1,22 +0,0 @@
-<launch>
-<!-- Launch file for Livox AVIA LiDAR -->
-
-	<arg name="rviz" default="true" />
-
-	<rosparam command="load" file="$(find fast_lio)/config/avia.yaml" />
-
-	<param name="feature_extract_enable" type="bool" value="0"/>
-	<param name="point_filter_num" type="int" value="1"/>
-	<param name="max_iteration" type="int" value="3" />
-	<param name="filter_size_surf" type="double" value="0.5" />
-	<param name="filter_size_map" type="double" value="0.5" />
-	<param name="cube_side_length" type="double" value="1000" />
-	<param name="runtime_pos_log_enable" type="bool" value="0" />
-	<param name="pcd_save_enable" type="bool" value="0" />
-    <node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" /> 
-
-	<group if="$(arg rviz)">
-	<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
-	</group>
-
-</launch>
--- a/launch/mapping_horizon.launch
+++ b/launch/mapping_horizon.launch
@@ -1,22 +0,0 @@
-<launch>
-<!-- Launch file for Livox Horizon LiDAR -->
-
-	<arg name="rviz" default="true" />
-
-	<rosparam command="load" file="$(find fast_lio)/config/horizon.yaml" />
-
-	<param name="feature_extract_enable" type="bool" value="0"/>
-	<param name="point_filter_num" type="int" value="3"/>
-	<param name="dense_publish_enable" type="bool" value="1" />
-	<param name="filter_size_surf" type="double" value="0.5" />
-	<param name="filter_size_map" type="double" value="0.5" />
-	<param name="cube_side_length" type="double" value="1000" />
-	<param name="runtime_pos_log_enable" type="bool" value="0" />
-	<param name="pcd_save_enable" type="bool" value="0" />
-    <node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen"  /> 
-
-	<group if="$(arg rviz)">
-	<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
-	</group>
-
-</launch>
--- a/launch/mapping_ouster64.launch
+++ b/launch/mapping_ouster64.launch
@@ -1,22 +0,0 @@
-<launch>
-<!-- Launch file for ouster OS2-64 LiDAR -->
-
-    <arg name="rviz" default="true" />
-
-    <rosparam command="load" file="$(find fast_lio)/config/ouster64.yaml" />
-
-    <param name="feature_extract_enable" type="bool" value="0"/>
-    <param name="point_filter_num" type="int" value="4"/>
-    <param name="max_iteration" type="int" value="3" />
-    <param name="filter_size_surf" type="double" value="0.5" />
-    <param name="filter_size_map" type="double" value="0.5" />
-    <param name="cube_side_length" type="double" value="1000" />
-    <param name="runtime_pos_log_enable" type="bool" value="0" />
-    <param name="pcd_save_enable" type="bool" value="0" />
-    <node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" /> 
-
-    <group if="$(arg rviz)">
-    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
-    </group>
-
-</launch>
--- a/launch/mapping_velodyne.launch
+++ b/launch/mapping_velodyne.launch
@@ -1,22 +0,0 @@
-<launch>
-  <!-- Launch file for velodyne16 VLP-16 LiDAR -->
-
-    <arg name="rviz" default="true" />
-
-    <rosparam command="load" file="$(find fast_lio)/config/velodyne.yaml" />
-
-    <param name="feature_extract_enable" type="bool" value="0"/>
-    <param name="point_filter_num" type="int" value="4"/>
-    <param name="max_iteration" type="int" value="3" />
-    <param name="filter_size_surf" type="double" value="0.5" />
-    <param name="filter_size_map" type="double" value="0.5" />
-    <param name="cube_side_length" type="double" value="1000" />
-    <param name="runtime_pos_log_enable" type="bool" value="0" />
-    <param name="pcd_save_enable" type="bool" value="0" />
-    <node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" /> 
-
-    <group if="$(arg rviz)">
-    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
-    </group>
-
-</launch>
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
-  <name>fast_lio</name>
+  <name>fast_lio_localization</name>
  <version>0.0.0</version>

  <description>
--- a/rviz_cfg/loam_livox.rviz
+++ b/rviz_cfg/loam_livox.rviz
@@ -16,7 +16,7 @@ Panels:
        - /Odometry1/Odometry1/Covariance1/Orientation1
        - /MarkerArray1/Namespaces1
      Splitter Ratio: 0.6432291865348816
-    Tree Height: 1146
+    Tree Height: 1139
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
@@ -85,14 +85,14 @@ Visualization Manager:
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
-          Max Intensity: 234
+          Max Intensity: 255
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: surround
          Position Transformer: XYZ
          Queue Size: 1
          Selectable: false
-          Size (Pixels): 3
+          Size (Pixels): 1
          Size (m): 0.05000000074505806
          Style: Points
          Topic: /cloud_registered
@@ -100,8 +100,8 @@ Visualization Manager:
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
-        - Alpha: 0.15000000596046448
-          Autocompute Intensity Bounds: true
+        - Alpha: 0.6000000238418579
+          Autocompute Intensity Bounds: false
          Autocompute Value Bounds:
            Max Value: 15
            Min Value: -5
@@ -110,12 +110,12 @@ Visualization Manager:
          Channel Name: intensity
          Class: rviz/PointCloud2
          Color: 255; 255; 255
-          Color Transformer: AxisColor
+          Color Transformer: Intensity
          Decay Time: 1000
-          Enabled: true
-          Invert Rainbow: true
+          Enabled: false
+          Invert Rainbow: false
          Max Color: 255; 255; 255
-          Max Intensity: 0
+          Max Intensity: 70
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: currPoints
@@ -129,7 +129,7 @@ Visualization Manager:
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
-          Value: true
+          Value: false
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
@@ -325,26 +325,26 @@ Visualization Manager:
  Value: true
  Views:
    Current:
-      Class: rviz/ThirdPersonFollower
-      Distance: 89.18838500976562
+      Class: rviz/Orbit
+      Distance: 19.453998565673828
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
-        X: -4.903029441833496
-        Y: -19.24248504638672
-        Z: -2.85572896245867e-5
+        X: 0
+        Y: 0
+        Z: 0
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.29979732632637024
-      Target Frame: global
-      Value: ThirdPersonFollower (rviz)
-      Yaw: 4.977229118347168
+      Pitch: 1.0753980875015259
+      Target Frame: body
+      Value: Orbit (rviz)
+      Yaw: 2.4953973293304443
    Saved: ~
 Window Geometry:
  Displays:
@@ -352,7 +352,7 @@ Window Geometry:
  Height: 1385
  Hide Left Dock: false
  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001c8000004b7fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd00000052fc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000697000004b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001c8000004b3fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000004b3000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000004b3000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009c100000052fc0100000002fb0000000800540069006d00650100000000000009c10000031300fffffffb0000000800540069006d006501000000000000045000000000000000000000069b000004b300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
@@ -361,6 +361,6 @@ Window Geometry:
    collapsed: false
  Views:
    collapsed: false
-  Width: 2493
-  X: 67
+  Width: 2497
+  X: 63
  Y: 27
--- a/rviz_cfg/localization.rviz
+++ b/rviz_cfg/localization.rviz
@@ -0,0 +1,437 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /mapping1/surround1
+        - /mapping1/currPoints1
+        - /mapping1/currPoints1/Autocompute Value Bounds1
+        - /Odometry1/Odometry1
+        - /Odometry1/Odometry1/Shape1
+        - /Odometry1/Odometry1/Covariance1
+        - /Odometry1/Odometry1/Covariance1/Position1
+        - /Odometry1/Odometry1/Covariance1/Orientation1
+        - /Localization1
+        - /Localization1/map1
+        - /Localization1/localization1
+        - /Localization1/localization1/Shape1
+        - /MarkerArray1/Namespaces1
+      Splitter Ratio: 0.6382352709770203
+    Tree Height: 779
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: map
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 1
+      Cell Size: 1000
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 40
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz/Axes
+      Enabled: false
+      Length: 0.699999988079071
+      Name: Axes
+      Radius: 0.05999999865889549
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 238; 238; 236
+          Color Transformer: Intensity
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 255
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: surround
+          Position Transformer: XYZ
+          Queue Size: 1
+          Selectable: false
+          Size (Pixels): 1
+          Size (m): 0.05000000074505806
+          Style: Points
+          Topic: /cloud_registered
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 0.6000000238418579
+          Autocompute Intensity Bounds: false
+          Autocompute Value Bounds:
+            Max Value: 15
+            Min Value: -5
+            Value: false
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: Intensity
+          Decay Time: 1000
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 70
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: currPoints
+          Position Transformer: XYZ
+          Queue Size: 100000
+          Selectable: true
+          Size (Pixels): 1
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /cloud_registered
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 0; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 151
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: PointCloud2
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.10000000149011612
+          Style: Flat Squares
+          Topic: /Laser_map
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+      Enabled: false
+      Name: mapping
+    - Class: rviz/Group
+      Displays:
+        - Angle Tolerance: 0.009999999776482582
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 1
+          Name: Odometry
+          Position Tolerance: 0.0010000000474974513
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.20000000298023224
+            Color: 255; 85; 0
+            Head Length: 0
+            Head Radius: 0
+            Shaft Length: 0.05000000074505806
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic: /Odometry
+          Unreliable: false
+          Value: true
+      Enabled: false
+      Name: Odometry
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 252; 233; 79
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 255
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: cur_scan_in_map
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /cur_scan_in_map
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 0.5
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 138; 226; 52
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: submap_in_FOV
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /submap
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Alpha: 0.4000000059604645
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 25; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 255
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: map
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 1
+          Size (m): 0.009999999776482582
+          Style: Points
+          Topic: /map
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Angle Tolerance: 0.10000000149011612
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 500
+          Name: localization
+          Position Tolerance: 0.10000000149011612
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 138; 226; 52
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 1
+            Value: Arrow
+          Topic: /localization
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Localization
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 0.699999988079071
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0
+      Buffer Length: 2
+      Class: rviz/Path
+      Color: 25; 255; 255
+      Enabled: true
+      Head Diameter: 0
+      Head Length: 0
+      Length: 0.30000001192092896
+      Line Style: Billboards
+      Line Width: 0.20000000298023224
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 25; 255; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.4000000059604645
+      Shaft Length: 0.4000000059604645
+      Topic: /path
+      Unreliable: false
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /MarkerArray
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 0; 0; 0
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 20
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 49.95238494873047
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 52.61579895019531
+        Y: -22.996828079223633
+        Z: 0.13604862987995148
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.0397968292236328
+      Target Frame: map
+      Value: Orbit (rviz)
+      Yaw: 1.380398154258728
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 1385
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000034bfc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003f0000034b000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c7000000000000000000000001000001520000034bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f0000034b000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009c100000052fc0100000002fb0000000800540069006d00650100000000000009c10000031300fffffffb0000000800540069006d00650100000000000004500000000000000000000009c1000004b300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2497
+  X: 63
+  Y: 27
--- a/src/laserMapping.cpp
+++ b/src/laserMapping.cpp
@@ -556,7 +556,8 @@ void publish_odometry(const ros::Publisher & pubOdomAftMapped)
 {
    odomAftMapped.header.frame_id = "camera_init";
    odomAftMapped.child_frame_id = "body";
-    odomAftMapped.header.stamp = ros::Time().fromSec(lidar_end_time);// ros::Time().fromSec(lidar_end_time);
+//    odomAftMapped.header.stamp = ros::Time().fromSec(lidar_end_time);// ros::Time().fromSec(lidar_end_time);
+    odomAftMapped.header.stamp = ros::Time::now();// ros::Time().fromSec(lidar_end_time);
    set_posestamp(odomAftMapped.pose);
    pubOdomAftMapped.publish(odomAftMapped);
    auto P = kf.get_P();
@@ -582,7 +583,9 @@ void publish_odometry(const ros::Publisher & pubOdomAftMapped)
    q.setY(odomAftMapped.pose.pose.orientation.y);
    q.setZ(odomAftMapped.pose.pose.orientation.z);
    transform.setRotation( q );
-    br.sendTransform( tf::StampedTransform( transform, odomAftMapped.header.stamp, "camera_init", "body" ) );
+    // TODO 这里使用当前时间发布tf 否则当livox时间不正确时无法正常tf
+//    br.sendTransform( tf::StampedTransform( transform, odomAftMapped.header.stamp, "camera_init", "body" ) );
+    br.sendTransform( tf::StampedTransform( transform, ros::Time::now(), "camera_init", "body" ) );
 }

 void publish_path(const ros::Publisher pubPath)