donglianghere / llol

LLOL: Low-Latency Odometry for Spinning Lidars

😆 LLOL: Low-Latency Odometry for Spinning Lidars

Sample data at https://www.dropbox.com/s/v4cth3z7hrqjsvf/raw-perch-loop-2021-09-06-17-22-06.bag?dl=0

Clone https://github.com/versatran01/ouster_decoder

Open rviz using the config in launch/llol.rviz

First run ouster driver

roslaunch ouster_decoder driver.launch

Then run ouster decoder

roslaunch ouster_decoder decoder.launch

Then run odom

roslaunch llol llol.launch

Run bag.

See CMakeLists.txt for dependencies.

To run multithread and show timing every 5s do

roslaunch llol llol.launch tbb:=1 log:=5

This is the open-source version, some advanced features may be missing.

Reference

LLOL: Low-Latency Odometry for Spinning Lidars

Chao Qu, Shreyas S. Shivakumar, Wenxin Liu, Camillo J. Taylor

https://arxiv.org/abs/2110.01725

https://youtu.be/MmiTMFt9YdU