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                                            赵德成

Porting to ROS2 Humble

Compared with ROS1, this version has a CPU usage three times higher under the same data package and map.

Mid-360复现效果展示+复现过程分享

你好，请问你倾斜安装后，有关注Z轴的数据吗？我也是类似倾斜13°，建图发现整个地图也是倾斜的。是需要mid360的驱动里面的外参参数吗 ![Image](https://github.com/user-attachments/assets/cbcbcc53-f8ef-4e54-a5aa-78bdfc5bb29e)

> [@DCYzhao](https://github.com/DCYzhao) 把这个改为true > > [FAST-LIVO2/config/avia.yaml](https://github.com/hku-mars/FAST-LIVO2/blob/137b660b7aa72883d31fa86221f7ab88c83610b7/config/avia.yaml#L66) > > Line 66 in [137b660](/hku-mars/FAST-LIVO2/commit/137b660b7aa72883d31fa86221f7ab88c83610b7) > > gravity_align_en: false 感谢郑博，设置为true确实正常了