LIO-SAM-Ali

Dependency

This is the original ROS1 implementation of LIO-SAM. For a ROS2 implementation see branch ros2.

ROS (tested with Kinetic and Melodic. Refer to #206 for Noetic)

sudo apt-get install -y ros-kinetic-navigation
sudo apt-get install -y ros-kinetic-robot-localization
sudo apt-get install -y ros-kinetic-robot-state-publisher

gtsam (Georgia Tech Smoothing and Mapping library)

sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev

Install

Use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin_make

Using Docker

Build image (based on ROS1 Kinetic):

docker build -t liosam-kinetic-xenial .

Once you have the image, start a container as follows:

docker run --init -it -d \
  -v /etc/localtime:/etc/localtime:ro \
  -v /etc/timezone:/etc/timezone:ro \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -e DISPLAY=$DISPLAY \
  liosam-kinetic-xenial \
  bash

Run the package

Run the launch file:

roslaunch lio_sam run.launch

It's worth mentioning that the topics and frame ids of rtk and imu have been revised by tools/repub.cpp

Play existing bag files:

rosbag play your-bag.bag -r 3 --pause --clock

Align GPS and odom coordinates

rosrun lio_sam lio_sam_gps_odom_align

Here we select 50 samples of rtk and odom output to achieve the alignment via Eigen::Umeyama in tools/gps_odom_align.cpp.

The number of samples can be revised in line 131, and we recommend to start this node when the odom output is stable.

Service

/lio_sam/save_map

save map as a PCD file.

  rosservice call [service] [resolution] [destination]

Example:

  $ rosservice call /lio_sam/save_map 0.2 "/Downloads/LOAM/"

Issues

Zigzag or jerking behavior: if your lidar and IMU data formats are consistent with the requirement of LIO-SAM, this problem is likely caused by un-synced timestamp of lidar and IMU data.
Jumpping up and down: if you start testing your bag file and the base_link starts to jump up and down immediately, it is likely your IMU extrinsics are wrong. For example, the gravity acceleration has negative value.
mapOptimization crash: it is usually caused by GTSAM. Please install the GTSAM specified in the README.md. More similar issues can be found here.
gps odometry unavailable: it is generally caused due to unavailable transform between message frame_ids and robot frame_id (for example: transform should be available from "imu_frame_id" and "gps_frame_id" to "base_link" frame. Please read the Robot Localization documentation found here.

Paper

Thank you for citing LIO-SAM (IROS-2020) if you use any of this code.

@inproceedings{liosam2020shan,
  title={LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping},
  author={Shan, Tixiao and Englot, Brendan and Meyers, Drew and Wang, Wei and Ratti, Carlo and Rus Daniela},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={5135-5142},
  year={2020},
  organization={IEEE}
}

Part of the code is adapted from LeGO-LOAM.

@inproceedings{legoloam2018shan,
  title={LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain},
  author={Shan, Tixiao and Englot, Brendan},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4758-4765},
  year={2018},
  organization={IEEE}
}

gary-robotics / LIO-SAM-Ali