Please support ROS 2

[kazu-321]

This program is great
But there is one problem
It is not compatible with ROS 2
It will not work unless you bridge the ROS 1 topic!
I would like you to make it compatible with ROS 2 humble
Please tell me what this program is based on and what parts you have changed
It will help me make a ROS 2 version.

[lingbomeng]

Hi, we mainly changed config parameters for using our lidars. You can compare yaml files in config directory and launch files in launch directory. Besides, some minor changes are made in file laserMapping.cpp.

[kazu-321]

Thank you. I think I can make the same thing by adding those changes to hku-mars/FAST_LIO.git, so I'll give it a try.

[dfloreaa]

If you're still interested, I did my own port of Point LIO to ROS2 with Unilidar L1/L2 support. Just tested out the Unilidar L1 and it works flawlesly.

Here's the link to the repo, hope that it comes in handy :)