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fast_lio_nav2_humanoid
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fast_lio_nav2_humanoid
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# fast_lio_nav2_humanoid Localization and navigation stack for the Unitree H1-2 using fast lio and Nav2.  ## Usage 1. Clone this repository onto the robots pc into a folder 2. Build and run the docker container ## To move the robot python walking_controller.py make sure the robot is under strict supervision. Unpredictable behavior like walking into objects can happen. ## Visualize We recommend opening rviz not on the robots pc due to low frames. ## Acknowledgments This work is based on [https://github.com/hku-mars/FAST_LIO](https://github.com/hku-mars/FAST_LIO) and uses the modified livox_ros_driver2 from [FAST_LIO_LOCALIZATION_HUMANOID](https://github.com/deepglint/FAST_LIO_LOCALIZATION_HUMANOID)
