LIO

Scope Inside The Localization Layer

This section covers the LiDAR-inertial odometry modules currently used in the repository:

• Point-LIO
• Fast-LIO

Shared Conventions

The repository aims to keep the following stable across LIO implementations:

• a consistent odometry topic
• stable TF responsibility around odom -> base_link
• consistent naming for registered clouds and path output
• a lio parameter group for runtime mode, realtime queue, async-map, and offline mapping controls

New LIO integrations may keep their internal algorithm-specific parameters, but VNV-facing bringup configs must expose topic, frame, publish, odometry, mapping, and PCD-save options through the same grouped structure used by Point-LIO and Fast-LIO.

Related Pages

• Localization
• Topic Reference
• TF Tree