General Details

You can use RKO-LIO in two primary ways:

1. Offline using the Python application rko_lio for analyzing pre-recorded data.

2. Online on a robot via our ROS packages.

The ROS-based system is the recommended approach for using RKO-LIO. Online or even offline, as we provide additional nodes to process ROS bags directly as well (see offline mode in ROS Usage). It offers better performance due to more efficient handling of incoming data streams. If possible, prefer using the ROS version. The Python version is intended mainly for convenience.

For odometry-specific parameter configuration, refer to Configuring rko_lio.

Contents:

• Sensor data
• Configuring rko_lio
• Core dependencies

For a short demo video of RKO-LIO, you can check this YouTube video: