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qpc001 / SLAM-application

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, Ada-LIO application and comparison on Gazebo and real-world datasets. Installation and config files are provided.

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SLAM-application: installation and test


● Results:

● video: Lego-LOAM vs LIO-SAM vs LVI-SAM

● video2: LIO-SAM vs LVI-SAM

● video3: LIO-SAM vs FAST-LIO2

● video4: FAST-LIO2 vs Livox-mapping vs LOAM-Livox using Livox Mid-70 LiDAR, real-world

● video5: FAST-LIO2 in the building with narrow stairs using Ouster OS0-128, real-world

● video6: FAST-LIO2 in the narrow tunnels using Ouster OS0-128 on the UAV (drone)

● video7: Faster-LIO vs FAST-LIO in the building with narrow stairs using Ouster OS0-128, real-world

● video8: VoxelMap in the building using Intel Realsense L515, real-world

● video9: R3LIVE in the building and around the building using Livox Mid-70 LiDAR, FLIR Blackfly S, Pixhawk4 mini, real-world

● video10: FAST-LIO2 vs Ada-LIO vs Point-LIO vs KISS-ICP in the building with narrow stairs, real-world

● video11: FAST-LIO2 vs Ada-LIO in Gazebo challenging environments


Requirements

  • Dependencies
$ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher
  • GTSAM for LVI-SAM and LIO-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 ..
$ sudo make install -j8
$ 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
$ tar zxf ceres-solver-1.14.0.tar.gz
$ 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 and gcc-9 for Faster-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

Note: Ouster-ros package cannot be built with gcc and g++ with the version higher than 6

  • When building ouster-ros,
catkin b -DCMAKE_C_COMPILER=gcc-6 -DCMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release
  • CGAL and pcl-tools for R3LIVE
$ 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, edit LVI-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

● Faster-LIO on ARM architecture (e.g., Jetson Xavier)

$ 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
$ 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 with ROS timestamp, but LiDAR 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);
  }

● How to properly set configuration for R3LIVE

  • Camera calibration - use Kalibr or camera_calibration
    • Kalibr - refer original repo
    • camera_calibration - use as here
  • 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, use livox_camera_calib repo
      • Record a bag file of LiVOX LiDAR data and capture the image from RGB camera you use.
      • Convert a bag file into a PCD 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

★Note: extrinsic rotational parameter from livox_camera_calib should be transposed in the r3live_config.yaml file. Refer my extrinsic result and r3live config file


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


How to run

● check each of config files and launch files in the folders of this repo

Trouble shooting for Gazebo Velodyne plugin

  • When using CPU ray, instead of GPU ray, height - width should be interchanged, I used this script file

About

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, Ada-LIO application and comparison on Gazebo and real-world datasets. Installation and config files are provided.

License:BSD 3-Clause "New" or "Revised" License

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Language:Python 100.0%