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fetch Livox-SDK2 + livox_ros_driver2 into ./deps\npixi run build        # colcon build (humble env by default)\n```\n\nRun with the default indoor config and RViz:\n\n```bash\npixi run ros2 launch fr_lio lio.launch.py\n```\n\nReplay a rosbag with mocap ground truth:\n\n```bash\npixi run ros2 launch fr_lio lio.launch.py \\\n  config_file:=config/indoors.yaml use_sim_time:=true mocap:=true\n# in a second terminal:\npixi run ros2 bag play \u003cbag-dir\u003e --clock\n```\n\n### Common launch overrides\n\n```bash\n# Switch to the outdoor profile\npixi run ros2 launch fr_lio lio.launch.py config_file:=config/outdoors.yaml\n\n# Compare against mocap ground truth (publishes /ground_truth/odom + /path)\npixi run ros2 launch fr_lio lio.launch.py mocap:=true rigid_body_name:=91\n\n# Headless run inside a namespace\npixi run ros2 launch fr_lio lio.launch.py namespace:=drone1 rviz:=false\n```\n\nUse the `jazzy` pixi environment instead of the default humble:\n\n```bash\npixi run -e jazzy build\n```\n\n## Citation\n\n```bibtex\n@software{gaona2026frlio,\n  author  = {Gaona, Alvaro J. and Perez-Saura, David and Campoy, Pascual},\n  title   = {Flight-ready Drift-Aware LiDAR-Inertial Odometry and Mapping with Self-correcting Maps},\n  year    = {2026},\n  url     = {https://github.com/alvgaona/fr-lio},\n  version = {0.1.0}\n}\n```\n\n[ci-badge]: https://github.com/alvgaona/fr-lio/actions/workflows/ci.yml/badge.svg\n[ci-link]: https://github.com/alvgaona/fr-lio/actions/workflows/ci.yml\n[pixi-img]: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/prefix-dev/pixi/main/assets/badge/v0.json\n[pixi-link]: https://pixi.sh\n[youtube-badge]: https://img.shields.io/badge/YouTube-Watch%20demo-red?logo=youtube\u0026logoColor=white\n[youtube-video]: https://www.youtube.com/watch?v=mVYm7tcp8Lg\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Falvgaona%2Ffr-lio","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Falvgaona%2Ffr-lio","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Falvgaona%2Ffr-lio/lists"}