feat: 初始化 Go2 导航代码与配置

livox_mapping/README.md

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+## Livox_mapping
+Livox_mapping is a mapping package for Livox LiDARs. 
+The package currently contains the basic functions of low-speed mapping.
+
+<div align="center">
+    <img src="doc/results/mid40_hall.gif" width = 45% >
+    <img src="doc/results/horizon_parking.gif" width = 45% >
+</div>
+
+Some key issues:
+1. Support multiple livox lidar;
+2. Different feature extraction;
+3. Remove odometry for small FOV situation;
+
+In the development of our package, we reference to LOAM, LOAM_NOTED.
+## 1. Prerequisites
+### 1.1 **Ubuntu** and **ROS**
+Ubuntu 64-bit 16.04 or 18.04.
+ROS Kinetic or Melodic. [ROS Installation](http://wiki.ros.org/ROS/Installation)
+
+### 1.2. **PCL && Eigen && openCV**
+Follow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).
+Follow [Eigen Installation](http://eigen.tuxfamily.org/index.php?title=Main_Page).
+Follow [openCV Installation](https://opencv.org/releases/).
+
+### 1.3. **livox_ros_driver**
+Follow [livox_ros_driver Installation](https://github.com/Livox-SDK/livox_ros_driver).
+
+
+## 2. Build
+Clone the repository and catkin_make:
+
+```
+    cd ~/catkin_ws/src
+    git clone https://github.com/Livox-SDK/livox_mapping.git
+    cd ..
+    catkin_make
+    source ~/catkin_ws/devel/setup.bash
+```
+
+*Remarks:*
+- If you want to save the pcd file please add map_file_path in launch file.
+## 3. Directly run
+### 3.1 Livox Mid-40
+Connect to your PC to Livox LiDAR (mid40) by following  [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
+```
+    ....
+    roslaunch livox_mapping mapping_mid.launch
+    roslaunch livox_ros_driver livox_lidar.launch
+    
+```
+### 3.2 Livox Horizon
+Connect to your PC to Livox LiDAR (Horizon) by following  [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
+```
+    ....
+    roslaunch livox_mapping mapping_horizon.launch
+    roslaunch livox_ros_driver livox_lidar_msg.launch
+    
+```
+## 4. Rosbag Example
+### 4.1 Livox Mid-40 rosbag
+
+<div align="center"><img src="doc/results/mid40_hall_01.png" width=90% /></div>
+
+<div align="center"><img src="doc/results/mid40_outdoor.png" width=90% /></div>
+
+Download [mid40_hall_example](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_hall_example.bag) or [mid40_outdoor](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_outdoor.bag) 
+and then
+```
+roslaunch livox_mapping mapping_mid.launch
+rosbag play YOUR_DOWNLOADED.bag
+```
+### 4.2 Livox Mid-100 rosbag
+
+<div align="center"><img src="doc/results/mid100_01.png" width=90% /></div>
+
+<div align="center"><img src="doc/results/mid100_02.png" width=90% /></div>
+
+Download [mid100_example](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid100_example.bag) and then
+```
+roslaunch livox_mapping mapping_mid.launch
+rosbag play YOUR_DOWNLOADED.bag
+```
+### 4.3 Livox Horizon rosbag
+
+<div align="center"><img src="doc/results/horizon_outdoor_01.png" width=90% /></div>
+
+<div align="center"><img src="doc/results/horizon_parking_01.png" width=90% /></div>
+
+Download [horizon_parking](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/horizon_parking.bag) or [horizon_outdoor](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/horizon_outdoor.bag) 
+and then
+```
+roslaunch livox_mapping mapping_horizon.launch
+rosbag play YOUR_DOWNLOADED.bag
+```
+## 5.Acknowledgments
+Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), [LOAM_NOTED](https://github.com/cuitaixiang/LOAM_NOTED).