The TL;DR

Python

pip install rko_lio
rko_lio data_dir

For example, if you’re running on a ROS bag, place all split parts in one folder (with metadata.yaml for ROS2) and pass that folder as data_dir.

By default, rko_lio tries to infer topics and TF relationships automatically, but you can override these using flags like --lidar, --imu, or --base_frame. If your bag doesn’t contain TF information, you’ll need to specify the IMU–LiDAR extrinsics via a config YAML (rko_lio --dump_config will write a default config).

See Python Usage for detailed examples and advanced options.

ROS

Installing using system package managers is currently available only on ROS Kilted. Please build from source for other distros.

sudo apt install ros-${ROS_DISTRO}-rko-lio
ros2 launch rko_lio odometry.launch.py

The launch file supports both online and offline modes via the mode argument and expects at least lidar_topic, imu_topic, and base_frame.

You can override configuration parameters through CLI or a separate YAML file (e.g., config_file:=/path/to/config).

For visualization, add rviz:=true.

To explore all launch parameters:

ros2 launch rko_lio odometry.launch.py -s

See ROS Usage for an extended description.