基于 Livox MID-360 3D LiDAR 的 ROS 2 自主导航工作空间，集成 LIO 里程计、重定位、Nav2 导航，支持仿真与实机部署。

ROS1 Noetic/Gazebo mobile robot simulation base for SLAM, navigation, EKF, and Fast-LIO experiments with Livox Mid-360 support.

Real-time voxel mapping from Fast-LIO odometry using NVIDIA NVBlox on ROS 2. Converts LiDAR point clouds + Fast-LIO poses into TSDF/ESDF voxel maps for navigation and visualization.

GPU-accelerated FAST-LIO for ROS2 with Ouster support and Jetson Orin optimization.

A bilingual guide for configuring local proxy access on Unitree GO2 Orin development platforms.

A computationally efficient and robust LiDAR-inertial odometry package, adapted from FAST-LIO and redesigned for native Ouster LiDAR support on ROS2. It preserves the original real-time performance while removing Livox-specific dependencies.

LiDAR-Inertial Odometry with DOP-based adaptive measurement weighting, pose graph optimization integration, and map-based localization.

This package implements mapless, short-distance autonomous navigation using FAST_LIO and Nav2. It utilizes the real-time odometry and point cloud data generated by FAST_LIO for the Nav2 stack.