ROS 2 port and FAST-LIVO2 feasibility

[BenderBot-es]

Hi, thanks a lot for sharing LL-Localizer, really nice work!

I had two quick questions:

• ROS 2: do you have any plans to port the system to ROS 2 at some point?

• Odometry backend: current system is built on a FAST-LIO2 frontend, with the main contribution being the map management rather than the odometry itself. Have you thought about running LL-Localizer on top of FAST-LIVO2 instead? Do you think the current architecture would make that feasible, or are there design choices that would make it hard?

Thanks again for making this public

[M-Evanovic]

@BenderBot-es Hello, thank you for your interest in and support of this work!

1. All experiments, including both simulation and real-world experiments in paper and on real AGV, were conducted on Ubuntu 22.04 with ROS2 Humble. But due to commercial applications and ongoing academic research, the complete code deployed on the real vehicle is not fully open-sourced.

2. While the main contribution of this work lies in map management, it remains a LI Odometry system. It not only focuses on map updates but also enhances localization accuracy and robustness, particularly within prior map regions.

3. The primary contributions of this work are the management of prior maps and updated maps, along with local map loading, which can still be implemented within LVIO systems.

Hope the above answers address your questions. Thank you again for your interest and support!