baoxianzhang / FLOAM_ssl

Fast LOAM (Lidar Odometry And Mapping) for solid state lidar indoor localization and mapping (Intel Realsense L515 as an example)

FLOAM - SSL

Fast LOAM (Lidar Odometry And Mapping) for solid state lidar (Intel Realsense L515 as an example)

This code is modified from FLOAM

Modifier: Wang Han, Nanyang Technological University, Singapore

Running speed: 20 Hz on Intel NUC, 30 Hz on PC

1. Solid-State Lidar Sensor Example

1.1 Scene reconstruction

1.2 SFM building example

1.3 Localization and Mapping with L515

2. Prerequisites

2.1 Ubuntu and ROS

Ubuntu 64-bit 18.04.

ROS Melodic. ROS Installation

2.2. Ceres Solver

Follow Ceres Installation.

2.3. PCL

Follow PCL Installation.

2.4. Trajectory visualization

For visualization purpose, this package uses hector trajectory sever, you may install the package by

sudo apt-get install ros-melodic-hector-trajectory-server

Alternatively, you may remove the hector trajectory server node if trajectory visualization is not needed

3. Build

3.1 Clone repository:

    cd ~/catkin_ws/src
    git clone https://github.com/wh200720041/floam_ssl.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3.2 Download test rosbag

You may download our recorded data if you dont have realsense L515, and by defult the file should be under home/user/Downloads

3.3 Launch ROS

if you would like to create the map at the same time, you can run

    roslaunch floam floam_ssl_mapping.launch

if only localization is required, you may refer to run

    roslaunch floam_ssl floam_ssl.launch

4. Sensor Setup

If you have new Realsense L515 sensor, you may follow the below setup instructions

4.1 L515

4.2 Librealsense

Follow Librealsense Installation

4.3 Realsense_ros

Copy realsense_ros package to your catkin folder

    cd ~/catkin_ws/src
    git clone https://github.com/IntelRealSense/realsense-ros.git
    cd ..
    catkin_make

4.4 Change parameter for L515

Change the parameter setting for L515

 sudo gedit ~/catkin_ws/src/realsense-ros/realsense2_camera/launch/rs_camera.launch 

search for the below argument and change default setting to below setting

<arg name="color_width"         default="1280"/>
<arg name="color_height"        default="720"/>
<arg name="filters"             default="pointcloud"/>

4.5 Launch ROS

    roslaunch floam floam_ssl_L515.launch