fast-lio2

Autonomous 250mm quadrotor: Livox Mid-360 + FAST-LIO2 / DLIO LiDAR-inertial localization + EGO-Planner navigation, on Jetson Orin NX & PX4 (EN / 中文)

uav drone path-planning ros px4 quadrotor slam jetson autonomous-navigation lidar-inertial-odometry dlio ego-planner livox-mid360 fast-lio2

• Updated Jun 19, 2026
• C++

This open-source repository provides a ROS2 mapping, localization, navigation, and obstacle-avoidance engineering system for a quadruped robot running on real hardware.

lidar slam ros2 obstacle-avoidance-robot autonomous-navigation livox gicp quadruped-robot nav2 mid360 fast-lio2

• Updated Jul 7, 2026
• C++

Benchmarking KISS-ICP, DLIO, FAST-LIO2 and GLIM on Livox Mid360 datasets using ROS2 Humble and EVO trajectory evaluation against ground-truth data.

benchmark uav robotics point-cloud lidar slam sensor-fusion ros2 lidar-point-cloud autonomous-robots autonomous-navigation point-cloud-processing livox lidar-inertial-odometry ros2-humble lidar-inertial-slam livox-mid360 fast-lio2 evo-trajectory

• Updated Sep 5, 2026
• Python

This repository is for setting up FAST LIO2 on ROS2 Jazzy in Ubuntu 24.04. It is not intended for WSL which may require additional troubleshooting. This repository also contains an updated config file (the minimal changes are already listed in the README), commands to run FAST LIO2 (and LIVOX), and screenshots of it working.

lidar livox livox-lidar lidar-slam ros2-jazzy mid360 fast-lio2

• Updated Jul 29, 2026