FAST_LIO2 建图确认当前没有定位节点或其他 Livox 驱动在运行后在机器人终端执行source /opt/ros/jazzy/setup.bashsource /home/FAST_LIO2/install/setup.bashros2 launch fast_lio mid360_mapping.launch.py rviz:false保存全局地图必须做另开一个机器人终端在 FAST_LIO2 仍运行时执行source /opt/ros/jazzy/setup.bashsource /home/FAST_LIO2/install/setup.bashros2 service call /map_save std_srvs/srv/Trigger {}确认完成后回到建图终端按 CtrlC 正常结束。启动定位启动 Livox 标准点云驱动source /opt/ros/jazzy/setup.bashsource /home/FAST_LIO2/install/setup.bashros2 run livox_ros_driver2 livox_ros_driver2_node --ros-args \-p xfer_format:0 \-p multi_topic:0 \-p data_src:0 \-p publish_freq:10.0 \-p output_data_type:0 \-p frame_id:livox_frame \-p user_config_path:/home/FAST_LIO2/config/MID360_config.json \-p cmdline_input_bd_code:livox0000000001启动定位节点source /opt/ros/jazzy/setup.bashsource /home/robot/lidarloc_ws/install/setup.bashsource /home/robot/lidarloc_ws/install/lidar_localization_ros2/share/lidar_localization_ros2/package.bashros2 launch lidar_localization_ros2 mid360_legged_localization.launch.py \map_path:/home/robot/fastlio_map/test.pcd \cloud_topic:/scan \imu_topic:/imu \use_imu_preintegration:false \use_continuous_time_deskew:false \ndt_num_threads:2 \enable_map_odom_tf:false \set_initial_pose:true \initial_pose_x:0.0 initial_pose_y:0.0 initial_pose_z:0.0 \initial_pose_qx:0.0 initial_pose_qy:0.0 initial_pose_qz:0.0 initial_pose_qw:1.0Mac 上启动 ROS 2 与 RVizMac 同时有 Wi-Fi 和连接机器人交换机的有线网卡。DDS 必须固定走有线网卡不能使用默认的 Wi-Fi 路由。在 Mac 终端执行cd /Users/lin/robostackexport RMW_IMPLEMENTATIONrmw_fastrtps_cppexport FASTRTPS_DEFAULT_PROFILES_FILE/Users/lin/robostack/fastdds_en5.xmlexport ROS_DOMAIN_ID0pixi run -e humble ros2 daemon stoppixi run -e humble ros2 daemon start启动已配置好的 RVizpixi run -e humble rviz2 -d /Users/lin/.rviz2/default.rviz