Raisin Plugin - Autonomous Navigation System
Raisin Plugin (Autonomous Navigation) provides a complete autonomous navigation stack for quadrupedal robots. It includes LiDAR drivers, SLAM, path planning, and a GUI interface for mission management.
This documentation covers the configuration and usage of autonomous navigation plugins including sensor drivers, state estimation, and path planning.
Key Features
LiDAR Support: Drivers for Ouster OS-1-32 and Livox Mid-360 LiDAR sensors
Depth Camera: Support for Intel RealSense depth cameras (e.g., D430, D455) for terrain perception
SLAM: FAST-LIO LiDAR-Inertial Odometry for real-time localization and mapping
Terrain Mapping: Grid mapping for terrain heightmap generation
Autonomous Navigation: Waypoint navigation with terrain analysis and obstacle avoidance
Path Planning: Local path planning with terrain traversability assessment
GUI Interface: Interactive map window for mission planning and visualization