feat: 初始化 Go2 导航代码与配置

Livox_automatic_calibration-master/include/point_cloud_mapper/PointCloudMapper.h

@@ -0,0 +1,67 @@
+#ifndef POINT_CLOUD_MAPPER_H
+#define POINT_CLOUD_MAPPER_H
+
+
+
+#include <pcl/octree/octree_search.h>
+
+#include <mutex>
+#include <thread>
+#include"common.h"
+
+class PointCloudMapper {
+ public:
+	 typedef pcl::PointCloud<pcl::POINT_TYPE> PointCloud;
+	 typedef pcl::octree::OctreePointCloudSearch<pcl::POINT_TYPE> Octree;
+
+  PointCloudMapper();
+  ~PointCloudMapper();
+
+  bool Initialize();
+
+
+  void Reset();
+
+  bool InsertPoints(const PointCloud::ConstPtr& points,
+                    PointCloud* incremental_points);
+  bool ApproxNearestNeighbors(const PointCloud& points, PointCloud* neighbors);
+
+  //void PublishMap();
+
+ private:
+  // Node initialization.
+  bool LoadParameters();
+
+
+  // The node's name.
+  std::string name_;
+
+  // Frame id for publishing map.
+  std::string fixed_frame_id_;
+
+  // Boolean initialization flag that is set after success from LoadParameters.
+  bool initialized_;
+
+  // Boolean to only publish the map if it has been updated recently.
+  bool map_updated_;
+
+  // When a loop closure occurs, this flag enables a user to unsubscribe from
+  // and resubscribe to the incremental map topic in order to re-draw the map.
+  bool incremental_unsubscribed_;
+
+  // Containers storing the map and its structure.
+
+  Octree::Ptr map_octree_;
+
+  // Map parameters.
+  double octree_resolution_;
+
+
+  std::thread publish_thread_;
+  mutable std::mutex map_mutex_;
+
+public:
+	PointCloud::Ptr map_data_;
+};
+
+#endif