1. 添加urdf配置文件：

添加IMU配置关节点和laser关节点

<!-- imu livox -->

<joint name="livox_frame_joint" type="fixed">

<parent link="base_link" />

<child link="livox_frame" />

<origin xyz="0 0 0" rpy="3.1416 0 0" />

</joint>

2. 配置文件cartographer_ros/configuration_files/backpack_3d.lua

使用base_link

map_frame = "map", --map

tracking_frame = "base_link", --base_link imu_link rslidar

published_frame = "base_link", --base_link rslidar

3.  配置cartographer_ros/launch/backpack_3d.launch....貌似这个建图的时候配置的，定位没用着！

转换topic：使用mid360的topic！

<remap from="points2" to="/livox/lidar />

<remap from="imu" to="/livox/imu" /> <!-- -->

4.配置 cartographer_ros/configuration_files/backpack_3d_localization.lua

把纯定位给去掉，不知道为什么，应该是pure_localization参数多了一个

include "backpack_3d.lua"

--TRAJECTORY_BUILDER.pure_localization = true

POSE_GRAPH.optimize_every_n_nodes = 100

return options

5.修改 cartographer_ros/launch/3d_local_wish.launch文件，就是3d_localization.launch文件，其它不做任何修改

<remap from="points2" to="/livox/lidar />

<remap from="imu" to="/livox/imu" /> <!-- -->

6.测试launch启动：使用提前建好的图

roslaunch cartographer_ros 3d_local_wish.launch load_map:=/home/wishchin/map3d/innercross.pbstream

结果：mid360的数据就是比较恍眼，定位成功