feat: 初始化 Go2 导航代码与配置

Livox_automatic_calibration-master/include/blam_slam/BlamSlam.h

@@ -0,0 +1,51 @@
+#ifndef BLAM_SLAM_H
+#define BLAM_SLAM_H
+
+
+#include <point_cloud_filter/PointCloudFilter.h>
+#include <point_cloud_odometry/PointCloudOdometry.h>
+#include <point_cloud_localization/PointCloudLocalization.h>
+#include <point_cloud_mapper/PointCloudMapper.h>
+
+//// PCL
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+#include <pcl/common/transforms.h>
+#include <pcl/visualization/cloud_viewer.h>
+#include <pcl/filters/voxel_grid.h>
+#include <pcl/visualization/cloud_viewer.h>
+#include<string>
+#include"common.h"
+
+
+class BlamSlam {
+ public:
+	 typedef pcl::PointCloud<pcl::POINT_TYPE> PointCloud;
+
+  BlamSlam();
+  ~BlamSlam();
+
+  bool Initialize();
+  void ProcessPointCloudMessage(const PointCloud::ConstPtr& msg);
+  bool showPointCloud(int FrameCounter);
+  std::string itos(int i);   // <20><>int ת<><D7AA><EFBFBD><EFBFBD>string 
+
+private:
+
+  // The node's name.
+  std::string name_;
+  // Update rates and callback timers.
+  double estimate_update_rate_;
+  double visualization_update_rate_;
+
+  // Names of coordinate frames.
+  std::string fixed_frame_id_;
+  std::string base_frame_id_;
+public:
+  PointCloudFilter filter_;
+  PointCloudOdometry odometry_;
+  PointCloudLocalization localization_;
+  PointCloudMapper mapper_;
+};
+
+#endif