# RabbitRobot-D435-L1lidar-RTABMap-ROS2 **Repository Path**: RabbitRobotHub/RabbitRobot-D435-L1lidar-RTABMap-ROS2 ## Basic Information - **Project Name**: RabbitRobot-D435-L1lidar-RTABMap-ROS2 - **Description**: 本项目旨在实现移动小车的三维建图与自主导航，融合了Unitree L1 LiDAR、Intel RealSense D435 相机与 MPU6050 IMU多模态数据。系统利用这些传感器获取高精度几何、深度及运动信息，并通过FAST-LIO2 与 RTAB-Map算法融合。最终实现复杂环境下的高精度感知、鲁棒位姿估计与实时自主导航，为多传感器融合SLAM研究提供平台。 - **Primary Language**: C++ - **License**: Apache-2.0 - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 2 - **Forks**: 1 - **Created**: 2025-10-24 - **Last Updated**: 2026-04-22 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README

🐇 RabbitRobot-D435-L1lidar-RTABMap-ROS2

RTAB-Map 融合 LiDAR 与双目相机的建图导航

> [!note] > >   本项目基于 LiDAR、RGB-D 相机与 IMU 的多模态融合技术，为实现了移动小车的 三维建图与自主导航为目标。系统采用 Unitree L1 激光雷达 提供高精度几何结构信息，结合 Intel RealSense D435 相机 提供彩色与深度数据，并融合 MPU6050 惯性测量单元 (IMU) 实现姿态与运动状态的补偿与优化。 > 通过 FAST-LIO2 与 RTAB-Map 的多源融合建图算法，系统能够在复杂环境下实现高精度的环境感知、鲁棒的位姿估计与实时自主导航功能，为 多传感器融合 SLAM 与智能移动机器人研究 提供了一个可靠的实验与开发平台。 > >   This project integrates LiDAR (Unitree L1), RGB-D camera (Intel RealSense D435), and IMU (MPU6050) to achieve 3D mapping and autonomous navigation for mobile robots. >   Using FAST-LIO2 and RTAB-Map, the system fuses geometric, visual, and inertial information to provide robust localization and environmental understanding even in complex scenarios, offering a reliable platform for multi-sensor SLAM research and intelligent robotics. > > ![image-20251021210657601](./README.assets/image-20251021210657601.png) # 一、创建RTABMap工作目录 ```bash sudo mkidr -p ljh_rtabmap_ws/src cd ljh_rtabmap_ws/src git clone -b humble-devel https://github.com/introlab/rtabmap.git git clone -b humble-devel https://github.com/introlab/rtabmap_ros.git cd .. rosdep install --from-paths src --ignore-src -r -y colcon build --symlink-install --parallel-workers 1 --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-dev source install/setup.bash ``` ## 1.1 编译安装 ```bash colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1 ``` ![image-20251018203757970](./README.assets/image-20251018203757970.png) ## 1.2 启动D435结点 ```bash ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true pointcloud.enable:=true ``` ![image-20251020211825863](./README.assets/image-20251020211825863.png) ## 1.3 查看D435结点信息 ```bash lijinghai@lijinghai-Jetson:~$ ros2 topic list /camera/camera/aligned_depth_to_color/camera_info /camera/camera/aligned_depth_to_color/image_raw /camera/camera/color/camera_info /camera/camera/color/image_raw /camera/camera/color/metadata /camera/camera/depth/camera_info /camera/camera/depth/image_rect_raw /camera/camera/depth/metadata /camera/camera/extrinsics/depth_to_color /parameter_events /rosout /tf_static ``` # 二、创建自定义D435 + RTABMap空间 ## 2.1 在RTABMap 工作目录下创建 ljh_rtabmap_demo ```bash ~/Desktop/ljh/code/ros2/ljh_rtabmap_ws/src/ ├── rtabmap_ros/ │ ├── rtabmap_odom/ │ ├── rtabmap_slam/ │ └── ... └── ljh_rtabmap_demo/ ├── package.xml ├── CMakeLists.txt └── launch/ └── realsense_d435_color.launch.py ``` ## 2.2 创建 package.xml ```xml ljh_rtabmap_demo 0.0.1 RTAB-Map demo integrating RealSense D435 and LiDAR (L1) sensors in ROS 2. Li Jinghai MIT ament_cmake rtabmap_ros rtabmap_slam rtabmap_odom rtabmap_viz realsense2_camera imu_filter_madgwick rclcpp sensor_msgs std_msgs ament_cmake ``` ## 2.3 创建CMakeLists.txt ```bash cmake_minimum_required(VERSION 3.5) project(ljh_rtabmap_demo) # 使用 ament_cmake find_package(ament_cmake REQUIRED) # 依赖包（必须和 package.xml 保持一致） find_package(rtabmap_ros REQUIRED) find_package(realsense2_camera REQUIRED) find_package(imu_filter_madgwick REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_msgs REQUIRED) # 安装 launch 文件 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/ ) ament_package() ``` ## 2.4 创建D435 + RTABMap launch文件 ```bash # ============================================================ # 算个文科生吧 # lijinghailjh@163.com # ============================================================ # File: realsense_d435_color.launch.py # Description: # 启动 Intel RealSense D435 彩色 + 深度 相机， # 并运行 RTAB-Map SLAM（包含里程计、建图与可视化）。 # # Requirements: # 1. 一台 Intel RealSense D435 相机（非 D435i） # 2. 已安装 realsense2_camera ROS 2 包： # sudo apt install ros-$ROS_DISTRO-realsense2-camera # 3. 已安装 rtabmap_ros 包： # sudo apt install ros-$ROS_DISTRO-rtabmap-ros # # Usage: # ros2 launch ljh_rtabmap_demo realsense_d435_color.launch.py # ============================================================ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node, SetParameter from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration def generate_launch_description(): """ generate_launch_description() 是 ROS 2 启动文件的主入口函数。 它返回一个 LaunchDescription 对象，包含所有需要同时启动的节点。 """ # ============================================================ # RTAB-Map 公共参数 # ============================================================ parameters = [{ # 相机的参考坐标系（TF 框架的根节点） 'frame_id': 'camera_link', # 是否订阅深度图像 'subscribe_depth': True, # 是否启用近似时间同步 # 若 CPU 性能较弱，可设置 True（但建图精度略降） 'approx_sync': False, }] # ============================================================ # 话题重映射（Remappings） # 用于对齐不同节点的输入/输出话题名称。 # ============================================================ remappings = [ # 将 RTAB-Map 的 RGB 图像输入映射到 RealSense 彩色图像话题 ('rgb/image', '/camera/color/image_raw'), # 相机内参信息 ('rgb/camera_info', '/camera/color/camera_info'), # 深度图像输入，使用对齐到彩色图的深度图 ('depth/image', '/camera/aligned_depth_to_color/image_raw') ] # ============================================================ # 返回 LaunchDescription 对象，包含所有子节点与参数 # ============================================================ return LaunchDescription([ # ------------------------------------------------------------ # DeclareLaunchArgument：声明命令行可传入的参数 # 例如： # ros2 launch ljh_rtabmap_demo realsense_d435_color.launch.py args:="--Vis/MinDepth 0.3" # ------------------------------------------------------------ DeclareLaunchArgument( 'args', default_value='', description='额外参数，用于设置 RTAB-Map 主节点和里程计节点的运行参数。' ), DeclareLaunchArgument( 'odom_args', default_value='', description='仅传递给里程计节点的额外参数（优先级高于 args）。' ), # ------------------------------------------------------------ # IncludeLaunchDescription： # 启动 RealSense 官方相机驱动（realsense2_camera） # ------------------------------------------------------------ IncludeLaunchDescription( PythonLaunchDescriptionSource([ os.path.join( # 获取 realsense2_camera 包路径 get_package_share_directory('realsense2_camera'), 'launch', 'rs_launch.py' ) ]), launch_arguments={ # 设置命名空间为空，方便后续话题简洁 'camera_namespace': '', # 开启对齐（深度对齐到彩色图像） 'align_depth.enable': 'true', # 启用所有传感器同步采样（保证彩色与深度帧时间一致） 'enable_sync': 'true', # 彩色相机分辨率与帧率 # 格式为：宽x高x帧率 'rgb_camera.profile': '640x360x30', # 深度模块分辨率与帧率 'depth_module.profile': '640x360x30', # 启用彩色相机 'enable_color': 'true', # 启用深度相机 'enable_depth': 'true', }.items(), ), # ------------------------------------------------------------ # RTAB-Map 视觉里程计节点 # 功能：估计相机相对运动（位姿） # ------------------------------------------------------------ Node( package='rtabmap_odom', # 所属 ROS 包 executable='rgbd_odometry', # 可执行文件名 output='screen', # 日志输出到终端 parameters=parameters, # 共享参数 arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")], # 可通过命令行附加参数 remappings=remappings # 话题映射 ), # ------------------------------------------------------------ # RTAB-Map SLAM 主节点 # 功能：执行建图、闭环检测、位置优化等 # ------------------------------------------------------------ Node( package='rtabmap_slam', executable='rtabmap', output='screen', parameters=parameters, remappings=remappings, # "-d" 表示启动时删除旧数据库，重新建图 arguments=['-d', LaunchConfiguration("args")] ), # ------------------------------------------------------------ # RTAB-Map 可视化界面 # 功能：显示相机轨迹、点云地图、关键帧等 # ------------------------------------------------------------ Node( package='rtabmap_viz', executable='rtabmap_viz', output='screen', parameters=parameters, remappings=remappings ), ]) ``` ## 2.5 编译 ```bash colcon build --symlink-install source install/setup.bash ros2 pkg list | grep ljh ``` ![image-20251021205854698](./README.assets/image-20251021205854698.png) ## 2.6 启动 D435 + RTAB-Map UI 可视化数据界面 ```bash ros2 launch ljh_rtabmap_demo realsense_d435_color.launch.py ``` ![image-20251021205948330](./README.assets/image-20251021205948330.png) ## 2.7 启动 rviz2可视化数据界面 ### 1.按下键盘（ctrl+alt+t）打开第三个终端，运行下面的指令，启动Rtabmap SLAM建图。 ```bash ros2 launch rtabmap_demos ljh_mapping_demo.launch.py rviz:=true rtabmap_viz:=true ``` ```bash # ============================================================ # 算个文科生吧 # lijinghailjh@163.com # ============================================================ # File: ljh_rs_pointcloud_launch.py # Description: # 基于 realsense2_camera 官方 rs_pointcloud_launch.py 修改， # 针对 Intel RealSense D435 优化，自动启用彩色点云。 # 启动后自动打开 RViz2 并显示彩色点云。 # # Usage: # ros2 launch ljh_rtabmap_demo ljh_rs_pointcloud_launch.py # # 可选参数： # ros2 launch ljh_rtabmap_demo ljh_rs_pointcloud_launch.py camera_name:=my_camera # ros2 launch ljh_rtabmap_demo ljh_rs_pointcloud_launch.py camera_namespace:=my_namespace # ros2 launch ljh_rtabmap_demo ljh_rs_pointcloud_launch.py rviz_config:=/path/to/your/config.rviz # # 重要提示： # - 启动前请确保没有其他 RealSense 节点在运行 # - 如果出现 "Depth stream start failure" 错误，先执行： # pkill -f realsense2_camera_node # - 然后重新启动本文件 # # 功能说明： # - 自动启动 RealSense D435 相机 # - 自动启用深度对齐和同步 # - 自动启用彩色点云发布 # - 自动打开 RViz2 并加载点云显示配置 # - 点云话题：/camera/depth/color/points（默认配置） # ============================================================ """Launch realsense2_camera node with pointcloud for D435.""" from launch import LaunchDescription from launch.actions import OpaqueFunction, TimerAction, ExecuteProcess, DeclareLaunchArgument from launch.conditions import IfCondition from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution from launch_ros.actions import Node import launch_ros.actions import sys import pathlib import os from ament_index_python.packages import get_package_share_directory # 添加 realsense2_camera launch 目录到路径 sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch')) import rs_launch # 本地参数定义（可被命令行覆盖） local_parameters = [ {'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'}, {'name': 'camera_namespace', 'default': '', 'description': 'camera namespace (empty for simpler topics)'}, {'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'}, {'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'}, {'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'}, # D435 特定优化参数 {'name': 'align_depth.enable', 'default': 'true', 'description': 'align depth to color (required for colored pointcloud)'}, {'name': 'enable_sync', 'default': 'true', 'description': 'enable frame synchronization'}, {'name': 'rgb_camera.profile', 'default': '640x360x30', 'description': 'RGB camera profile (widthxheightxfps)'}, {'name': 'depth_module.profile', 'default': '640x360x30', 'description': 'Depth module profile (widthxheightxfps)'}, ] def set_configurable_parameters(local_params): """将本地参数转换为 LaunchConfiguration 字典""" return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params]) def setup_pointcloud_params(context): """设置点云参数的回调函数""" camera_name = context.launch_configurations.get('camera_name', 'camera') camera_namespace = context.launch_configurations.get('camera_namespace', '') # 构建节点完整路径 # 当 camera_namespace 为空时，节点路径为 /camera_name # 当 camera_namespace 不为空时，节点路径为 /camera_namespace/camera_name if camera_namespace: node_path = f'/{camera_namespace}/{camera_name}' else: node_path = f'/{camera_name}' enable_cmd = ( f"for i in {{1..10}}; do " f"ros2 param set {node_path} pointcloud__neon_.enable True >/dev/null 2>&1 && " f"break; " f"sleep 1; " f"done" ) stream_filter_cmd = ( f"for i in {{1..10}}; do " f"ros2 param set {node_path} pointcloud__neon_.stream_filter 2 >/dev/null 2>&1 && " f"break; " f"sleep 1; " f"done" ) return [ ExecuteProcess(cmd=['/bin/bash', '-c', enable_cmd], output='screen'), ExecuteProcess(cmd=['/bin/bash', '-c', stream_filter_cmd], output='screen') ] def generate_launch_description(): """生成启动描述""" # 获取所有可配置参数 params = rs_launch.configurable_parameters # 合并本地参数和系统参数（本地参数包含 D435 优化设置） all_params = local_parameters + params # 声明 rviz 配置文件参数（可选） # 如果指定了 rviz_config，则使用指定的配置文件 # 如果未指定，则使用默认路径或让 RViz2 使用默认配置 rviz_config_arg = DeclareLaunchArgument( 'rviz_config', default_value=PathJoinSubstitution([ get_package_share_directory('ljh_rtabmap_demo'), 'rviz', 'pointcloud.rviz' ]), description='Path to RViz2 configuration file. If file does not exist, RViz2 will start with default config.' ) return LaunchDescription( # 声明所有可配置参数 [rviz_config_arg] + rs_launch.declare_configurable_parameters(local_parameters) + rs_launch.declare_configurable_parameters(params) + [ # 启动 RealSense 相机节点 # 传递所有参数（包括本地定义的 D435 优化参数） OpaqueFunction( function=rs_launch.launch_setup, kwargs={'params': set_configurable_parameters(all_params)} ), # 延迟设置点云参数（RealSense 节点启动后 3 秒设置） # 点云参数无法在 launch_arguments 中直接设置，需要启动后设置 # 使用 OpaqueFunction 来动态获取 camera_name 和 camera_namespace TimerAction( period=3.0, actions=[ OpaqueFunction(function=setup_pointcloud_params) ] ), # 启动 RViz2 用于可视化点云 # 如果指定了 rviz_config 参数，则加载该配置文件 launch_ros.actions.Node( package='rviz2', namespace='', executable='rviz2', name='rviz2', output='screen', arguments=['-d', LaunchConfiguration('rviz_config')] ) ] ) ``` ## 2.8 Rviz2成像 ![image-20251107162205373](./README.assets/image-20251107162205373.png) ## 2.9 加入imu ```bash # ============================================================ # 算个文科生吧 # lijinghailjh@163.com # ============================================================ # File: ljh_rs_pointcloud_mpu6050.launch.py # Description: # RealSense D435 点云 + 外部 MPU6050 IMU 一键可视化。 # - 启动 RealSense 彩色/深度及彩色点云 # - 自动启用 Madgwick IMU 滤波，发布带姿态的 /imu_filtered # - 可选发布 IMU -> 相机的静态 TF # - 自动打开 RViz2 显示点云 # # Usage: # ros2 launch ljh_rtabmap_demo ljh_rs_pointcloud_mpu6050.launch.py # # 可选参数： # ros2 launch ljh_rtabmap_demo ljh_rs_pointcloud_mpu6050.launch.py \ # imu_raw_topic:=/imu imu_filtered_topic:=/imu_filtered \ # imu_to_cam_tx:=0.0 imu_to_cam_ty:=0.02 imu_to_cam_tz:=-0.03 # # 注意： # - 请先确保 mpu6050driver 节点已运行并发布 IMU 数据 # - 若已有其他 RealSense 节点，请先 pkill -f realsense2_camera_node # ============================================================ """Launch RealSense pointcloud with external MPU6050 IMU.""" import os import sys from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, ExecuteProcess, OpaqueFunction, TimerAction from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node # 加载 realsense 官方 launch 模块 sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch')) import rs_launch # type: ignore # noqa: E402 # ============================================================ # 参数定义 # ============================================================ local_parameters = [ {'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'}, {'name': 'camera_namespace', 'default': '', 'description': 'camera namespace (empty for simpler topics)'}, {'name': 'serial_no', 'default': '', 'description': 'RealSense device serial number (optional)'}, {'name': 'usb_port_id', 'default': '', 'description': 'RealSense USB port id (optional)'}, {'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'}, {'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'}, {'name': 'pointcloud.enable', 'default': 'true', 'description': 'enable pointcloud'}, {'name': 'align_depth.enable', 'default': 'true', 'description': 'align depth to color (required for colored pointcloud)'}, {'name': 'enable_sync', 'default': 'true', 'description': 'enable frame synchronization'}, {'name': 'rgb_camera.profile', 'default': '640x360x30', 'description': 'RGB camera profile (widthxheightxfps)'}, {'name': 'depth_module.profile', 'default': '640x360x30', 'description': 'Depth module profile (widthxheightxfps)'} ] def declare_argument(name: str, default: str, description: str) -> DeclareLaunchArgument: return DeclareLaunchArgument(name, default_value=default, description=description) def set_configurable_parameters(local_params): """将本地参数转换为 LaunchConfiguration 字典""" return {param['name']: LaunchConfiguration(param['name']) for param in local_params} def declare_configurable_parameters(local_params): return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in local_params] def setup_pointcloud_params(context): """realsense 节点启动后，循环设置 pointcloud 参数""" camera_name = context.launch_configurations.get('camera_name', 'camera') camera_namespace = context.launch_configurations.get('camera_namespace', '') node_path = f"/{camera_namespace}/{camera_name}" if camera_namespace else f"/{camera_name}" enable_cmd = ( f"for i in {{1..10}}; do " f"ros2 param set {node_path} pointcloud__neon_.enable True >/dev/null 2>&1 && break; " f"sleep 1; " f"done" ) stream_cmd = ( f"for i in {{1..10}}; do " f"ros2 param set {node_path} pointcloud__neon_.stream_filter 2 >/dev/null 2>&1 && break; " f"sleep 1; " f"done" ) return [ ExecuteProcess(cmd=['/bin/bash', '-c', enable_cmd], output='screen'), ExecuteProcess(cmd=['/bin/bash', '-c', stream_cmd], output='screen') ] def generate_launch_description() -> LaunchDescription: # realsense 可配置参数 rs_params = rs_launch.configurable_parameters all_params = local_parameters + rs_params # Launch 参数声明 launch_args = [ declare_argument('rviz_config', PathJoinSubstitution([ get_package_share_directory('ljh_rtabmap_demo'), 'rviz', 'pointcloud.rviz' ]), 'RViz2 配置文件路径'), declare_argument('config_file', PathJoinSubstitution([ get_package_share_directory('ljh_rtabmap_demo'), 'config', 'realsense_empty.json' ]), 'RealSense 相机 JSON 配置文件路径（可选）'), declare_argument('imu_raw_topic', '/imu', '原始 IMU 话题（mpu6050driver 输出）'), declare_argument('imu_filtered_topic', '/imu_filtered', '姿态解算后的 IMU 话题'), declare_argument('camera_frame', 'camera_link', 'RealSense 相机坐标系'), declare_argument('imu_frame', 'imu_link', 'IMU 坐标系名称'), declare_argument('imu_to_cam_tx', '0.0', 'IMU 相对于相机的 X 平移 (m)'), declare_argument('imu_to_cam_ty', '0.0', 'IMU 相对于相机的 Y 平移 (m)'), declare_argument('imu_to_cam_tz', '0.0', 'IMU 相对于相机的 Z 平移 (m)'), declare_argument('imu_to_cam_roll', '0.0', 'IMU 相对于相机的 Roll (rad, about X)'), declare_argument('imu_to_cam_pitch', '0.0', 'IMU 相对于相机的 Pitch (rad, about Y)'), declare_argument('imu_to_cam_yaw', '0.0', 'IMU 相对于相机的 Yaw (rad, about Z)') ] # RealSense 官方驱动 realsense_launch = OpaqueFunction( function=rs_launch.launch_setup, kwargs={'params': set_configurable_parameters(all_params)} ) # IMU Madgwick 滤波器 imu_filter_node = Node( package='imu_filter_madgwick', executable='imu_filter_madgwick_node', name='imu_filter', output='screen', parameters=[{ 'use_magnetic_field': False, 'world_frame': 'enu', 'publish_tf': False, }], remappings=[ ('imu/data_raw', LaunchConfiguration('imu_raw_topic')), ('imu/data', LaunchConfiguration('imu_filtered_topic')), ], ) # IMU -> 相机静态 TF（可修改平移/姿态） static_tf_node = Node( package='tf2_ros', executable='static_transform_publisher', name='imu_to_camera_tf', arguments=[ LaunchConfiguration('imu_to_cam_tx'), LaunchConfiguration('imu_to_cam_ty'), LaunchConfiguration('imu_to_cam_tz'), LaunchConfiguration('imu_to_cam_roll'), LaunchConfiguration('imu_to_cam_pitch'), LaunchConfiguration('imu_to_cam_yaw'), LaunchConfiguration('imu_frame'), LaunchConfiguration('camera_frame'), ], output='screen', ) # RViz2 可视化 rviz_node = Node( package='rviz2', executable='rviz2', name='rviz2', output='screen', arguments=['-d', LaunchConfiguration('rviz_config')] ) ld = LaunchDescription() for arg in launch_args: ld.add_action(arg) for decl in declare_configurable_parameters(local_parameters): ld.add_action(decl) for decl in rs_launch.declare_configurable_parameters(rs_params): ld.add_action(decl) ld.add_action(realsense_launch) ld.add_action(imu_filter_node) ld.add_action(TimerAction(period=1.0, actions=[static_tf_node])) ld.add_action(TimerAction(period=3.0, actions=[OpaqueFunction(function=setup_pointcloud_params)])) ld.add_action(rviz_node) return ld ``` > [!note] > > MPU6050 接入ROS2 请看 https://github.com/lijinghai/RabbitRobot-JetsonOrinSuper_MPU6050-ROS2