SLAM-application: installation and test
- 3D, single-LiDAR: LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, DLO, PV-LIO, and SLAMesh
- 3D, multi-LiDARs: FAST-LIO-MULTI
● Results:
Single-LiDAR
video
: Lego-LOAM vs LIO-SAM vs LVI-SAMvideo2
: LIO-SAM vs LVI-SAMvideo3
: LIO-SAM vs FAST-LIO2video4
: FAST-LIO2 vs Livox-mapping vs LOAM-Livox usingLivox Mid-70 LiDAR
, real-worldvideo5
: FAST-LIO2 in the building with narrow stairs usingOuster OS0-128
, real-worldvideo6
: FAST-LIO2 in the narrow tunnels usingOuster OS0-128
on the UAV (drone)video7
: Faster-LIO vs FAST-LIO in the building with narrow stairs usingOuster OS0-128
, real-worldvideo8
: VoxelMap in the building usingIntel Realsense L515
, real-worldvideo9
: R3LIVE in the building and around the building usingLivox Mid-70 LiDAR
,FLIR Blackfly S
,Pixhawk4 mini
, real-worldvideo10
: FAST-LIO2 vs Ada-LIO vs Point-LIO vs KISS-ICP in the building with narrow stairs, real-worldvideo11
: FAST-LIO2 vs Ada-LIO in Gazebo challenging environmentsvideo12
: DLO vs FAST-LIO2video13
: DLO vs DLIO vs Ada-LIO vs FAST-LIO2video15
: Ada-LIO vs PV-LIO vs SLAMeshvideo16
: Ada-LIO vs PV-LIO
Multi-LiDARs
video14
: FAST-LIO-MULTI bundle update vs asynchronous update
Dependencies
- Common packages
$ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher
- GTSAM for
LVI-SAM
andLIO-SAM
$ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
$ unzip gtsam.zip
$ cd gtsam-4.0.2/
$ mkdir build && cd build
$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
$ sudo make install -j8
- Ceres solver for
LVI-SAM
andSLAMesh
$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz #LVI-SAM
$ wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz #SLAMesh
$ tar zxf ceres-solver-1.14.0.tar.gz #LVI-SAM
$ tar zxf ceres-solver-2.1.0.tar.gz #SLAMesh
$ mkdir ceres-bin
$ mkdir solver && cd ceres-bin
$ cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver" #good for build without being root privileged and at wanted directory
$ make -j8 # 8 : number of cores
$ make test
$ make install
glog
,g++-9
andgcc-9
forFaster-LIO
$ sudo apt-get install libgoogle-glog-dev
$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt update
$ sudo apt install gcc-9 g++-9
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
Ouster-ros
package cannot be built with gcc
and g++
with the version higher than 6,
Note: When - When building
ouster-ros
,
catkin b -DCMAKE_C_COMPILER=gcc-6 -DCMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release
CGAL
andpcl-tools
forR3LIVE
$ sudo apt install libcgal-dev pcl-tools
Optionally,
$ sudo apt install meshlab
Installation
● LeGO-LOAM
$ cd ~/your_workspace/src
$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● LIO-SAM
$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LIO-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● LVI-SAM
$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LVI-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● Trouble shooting for LVI-SAM
- for
OpenCV 4.X
, editLVI-SAM/src/visual_odometry/visual_loop/ThirdParty/DVision/BRIEF.cpp:53
// cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);
● FAST-LIO2
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/FAST_LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● Faster-LIO
$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git
$ cd faster-lio/thirdparty
$ tar -xvf tbb2018_20170726oss_lin.tgz
$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss -DCMAKE_BUILD_TYPE=Release
ARM
architecture (e.g., Jetson Xavier)
● Faster-LIO on $ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git
$ cd faster-lio/thirdparty
$ git clone https://github.com/syoyo/tbb-aarch64
$ cd tbb-aarch64
$ ./scripts/bootstrap-aarch64-linux.sh
$ cd build-aarch64
$ make && make install
$ gedit faster-lio/cmake/packages.cmake
Edit line 13 as:
#set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib/intel64/gcc4.7")
set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib")
$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb-aarch64/dist -DCMAKE_BUILD_TYPE=Release
● VoxelMap
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
$ git clone https://github.com/hku-mars/VoxelMap.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● Trouble shooting for VoxelMap
/usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ ...
- You could meet this error in
ROS-melodic
. Fix as here
- You could meet this error in
$ sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
$ sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak
$ sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
$ sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
● R3LIVE
$ cd ~/your_workspace/src
$ git clone https://github.com/hku-mars/r3live.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● Trouble shooting for R3LIVE
LiDAR incoming frame too old ...
- Original
Livox-ros-driver
does not publish the data withROS
timestamp, butLiDAR
time. - So, use
modified livox-ros-driver
here - If that does not solve the problem, edit
lddc.cpp
yourself, line 563:
//livox_msg.header.stamp = ros::Time((timestamp - init_lidar_tim - packet_offset_time ) / 1e9 + init_ros_time); livox_msg.header.stamp = ros::Time::now(); /**************** Modified for R2LIVE **********************/ ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle); if (kOutputToRos == output_type_) { p_publisher->publish(livox_msg); }
- Original
● How to properly set configuration for R3LIVE
- Camera calibration - use
Kalibr
orcamera_calibration
- Lidar-Camera calibration
- Other spinning LiDARs are not supported yet (for RGB mapping), but try to use
lidar_camera_calibration
repo, if you want to. - For
LiVOX
LiDAR, uselivox_camera_calib
repo- Record a
bag file
of LiVOX LiDAR data and capture the image fromRGB camera
you use. - Convert a
bag file
into aPCD file
with (change directories in the launch file):
$ roslaunch livox_camera_calib bag_to_pcd.launch
- Then, calibrate LiDAR and camera as (change directories in the launch and config files):
$ roslaunch livox_camera_calib calib.launch
- Record a
- Other spinning LiDARs are not supported yet (for RGB mapping), but try to use
livox_camera_calib
should be transposed in the r3live_config.yaml
file. Refer my extrinsic result and r3live config file
★Note: extrinsic rotational parameter from
Left: Target image. Right: Target PCD
Left: calibrated image and residuals. Right: calibrated image
Sensor configuration of mine: Pixhawk4 mini as an IMU, FLIR Blackfly S USB3 (BFS-U3-23S3C-C), LiVOX MID-70
● Point-LIO
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/Point-LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● KISS-ICP (ROS1)
$ cd ~/your_workspace/src
$ git clone https://github.com/PRBonn/kiss-icp.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● DLO
$ sudo apt install libomp-dev libpcl-dev libeigen3-dev
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● DLIO
$ sudo apt install libomp-dev libpcl-dev libeigen3-dev
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● FAST-LIO-MULTI
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/engcang/FAST_LIO_MULTI
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● PV-LIO
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/HViktorTsoi/PV-LIO
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● SLAMesh
$ sudo apt-get install build-essential cmake cmake-curses-gui libflann-dev libgsl-dev libeigen3-dev libopenmpi-dev \
openmpi-bin opencl-c-headers ocl-icd-opencl-dev libboost-all-dev libopencv-dev libyaml-cpp-dev \
freeglut3-dev libhdf5-dev qtbase5-dev qt5-default libqt5opengl5-dev liblz4-dev
# Ubuntu 18.04
$ sudo apt-get install libvtk6-dev libvtk6-qt-dev
# Ubuntu 20.04
$ sudo apt-get install libvtk7-dev libvtk7-qt-dev
$ git clone https://github.com/uos/lvr2.git
$ cd lvr2
$ mkdir build && cd build
$ cmake .. && make
$ sudo make install
$ cd ~/your_workspace/src
$ git clone https://github.com/naturerobots/mesh_tools.git
$ git clone https://github.com/RuanJY/SLAMesh.git
$ cd..
$ catkin build -DCMAKE_BUILD_TYPE=Release
● Trouble shooting for SLAMesh
- With
Ceres
>= 2.0 version andOpenCV
4.X version,ceres.solve
can occur error - Delete
OpenCV
dependency inCMakeLists.txt
#target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})
target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})
How to run
● check each of config files and launch files in the folders of this repo
Gazebo Velodyne plugin
Trouble shooting for - When using
CPU ray
, instead ofGPU ray
, height - width should be interchanged, I used this script file