GLO - General LiDAR-only Odometry

GLO - General LiDAR-only Odometry

Compile

Dependency

ubuntu20.04 + ROS noetic
Eigen
ceres
PCL
yaml-cpp

    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag.

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag.

please ensure the topic in rosbag is same with in config file.

Developers

YunSu

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	roscpp
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/grodom_NTU.launch
- - rviz [default: true]
launch/grodom_RS16.launch
- - rviz [default: true]
launch/grodom_kitti.launch
- - rviz [default: true]
launch/grodom_mid360.launch
- - rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `grodom_ros1` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

grodom_ros1 package from glo repo

grodom_ros1

ROS Distro
github

Package Summary

Tags	No category tags.
Version	1.0.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	General LiDAR-Only Odometry with High Efficiency and Low Drift
Checkout URI	https://github.com/robosu12/glo.git
VCS Type	git
VCS Version	master
Last Updated	2025-02-08
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The grodom_ros1 package

Additional Links

No additional links.

Maintainers

YunSu

Authors

No additional authors.

GLO - General LiDAR-only Odometry

Compile

Dependency

ubuntu20.04 + ROS noetic
Eigen
ceres
PCL
yaml-cpp

    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag.

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag.

please ensure the topic in rosbag is same with in config file.

Developers

YunSu

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	roscpp
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/grodom_NTU.launch
- - rviz [default: true]
launch/grodom_RS16.launch
- - rviz [default: true]
launch/grodom_kitti.launch
- - rviz [default: true]
launch/grodom_mid360.launch
- - rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `grodom_ros1` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

grodom_ros1 package from glo repo

grodom_ros1

ROS Distro
github

Package Summary

Tags	No category tags.
Version	1.0.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	General LiDAR-Only Odometry with High Efficiency and Low Drift
Checkout URI	https://github.com/robosu12/glo.git
VCS Type	git
VCS Version	master
Last Updated	2025-02-08
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The grodom_ros1 package

Additional Links

No additional links.

Maintainers

YunSu

Authors

No additional authors.

GLO - General LiDAR-only Odometry

Compile

Dependency

ubuntu20.04 + ROS noetic
Eigen
ceres
PCL
yaml-cpp

    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag.

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag.

please ensure the topic in rosbag is same with in config file.

Developers

YunSu

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	roscpp
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/grodom_NTU.launch
- - rviz [default: true]
launch/grodom_RS16.launch
- - rviz [default: true]
launch/grodom_kitti.launch
- - rviz [default: true]
launch/grodom_mid360.launch
- - rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `grodom_ros1` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

grodom_ros1 package from glo repo

grodom_ros1

ROS Distro
github

Package Summary

Tags	No category tags.
Version	1.0.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	General LiDAR-Only Odometry with High Efficiency and Low Drift
Checkout URI	https://github.com/robosu12/glo.git
VCS Type	git
VCS Version	master
Last Updated	2025-02-08
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The grodom_ros1 package

Additional Links

No additional links.

Maintainers

YunSu

Authors

No additional authors.

GLO - General LiDAR-only Odometry

Compile

Dependency

ubuntu20.04 + ROS noetic
Eigen
ceres
PCL
yaml-cpp

    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag.

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag.

please ensure the topic in rosbag is same with in config file.

Developers

YunSu

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	roscpp
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/grodom_NTU.launch
- - rviz [default: true]
launch/grodom_RS16.launch
- - rviz [default: true]
launch/grodom_kitti.launch
- - rviz [default: true]
launch/grodom_mid360.launch
- - rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `grodom_ros1` at Robotics Stack Exchange

grodom_ros1 package from glo repo

grodom_ros1

ROS Distro
github

Package Summary

Tags	No category tags.
Version	1.0.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	General LiDAR-Only Odometry with High Efficiency and Low Drift
Checkout URI	https://github.com/robosu12/glo.git
VCS Type	git
VCS Version	master
Last Updated	2025-02-08
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The grodom_ros1 package

Additional Links

No additional links.

Maintainers

YunSu

Authors

No additional authors.

GLO - General LiDAR-only Odometry

Compile

Dependency

ubuntu20.04 + ROS noetic
Eigen
ceres
PCL
yaml-cpp

    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag.

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag.

please ensure the topic in rosbag is same with in config file.

Developers

YunSu

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	roscpp
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/grodom_NTU.launch
- - rviz [default: true]
launch/grodom_RS16.launch
- - rviz [default: true]
launch/grodom_kitti.launch
- - rviz [default: true]
launch/grodom_mid360.launch
- - rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `grodom_ros1` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

grodom_ros1 package from glo repo

grodom_ros1

ROS Distro
github

Package Summary

Tags	No category tags.
Version	1.0.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	General LiDAR-Only Odometry with High Efficiency and Low Drift
Checkout URI	https://github.com/robosu12/glo.git
VCS Type	git
VCS Version	master
Last Updated	2025-02-08
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The grodom_ros1 package

Additional Links

No additional links.

Maintainers

YunSu

Authors

No additional authors.

GLO - General LiDAR-only Odometry

Compile

Dependency

ubuntu20.04 + ROS noetic
Eigen
ceres
PCL
yaml-cpp

    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag.

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag.

please ensure the topic in rosbag is same with in config file.

Developers

YunSu

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	roscpp
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/grodom_NTU.launch
- - rviz [default: true]
launch/grodom_RS16.launch
- - rviz [default: true]
launch/grodom_kitti.launch
- - rviz [default: true]
launch/grodom_mid360.launch
- - rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `grodom_ros1` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

grodom_ros1 package from glo repo

grodom_ros1

ROS Distro
github

Package Summary

Tags	No category tags.
Version	1.0.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	General LiDAR-Only Odometry with High Efficiency and Low Drift
Checkout URI	https://github.com/robosu12/glo.git
VCS Type	git
VCS Version	master
Last Updated	2025-02-08
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The grodom_ros1 package

Additional Links

No additional links.

Maintainers

YunSu

Authors

No additional authors.

GLO - General LiDAR-only Odometry

Compile

Dependency

ubuntu20.04 + ROS noetic
Eigen
ceres
PCL
yaml-cpp

    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag.

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag.

please ensure the topic in rosbag is same with in config file.

Developers

YunSu

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	roscpp
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/grodom_NTU.launch
- - rviz [default: true]
launch/grodom_RS16.launch
- - rviz [default: true]
launch/grodom_kitti.launch
- - rviz [default: true]
launch/grodom_mid360.launch
- - rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `grodom_ros1` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

grodom_ros1 package from glo repo

grodom_ros1

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.0.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	General LiDAR-Only Odometry with High Efficiency and Low Drift
Checkout URI	https://github.com/robosu12/glo.git
VCS Type	git
VCS Version	master
Last Updated	2025-02-08
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The grodom_ros1 package

Additional Links

No additional links.

Maintainers

YunSu

Authors

No additional authors.

GLO - General LiDAR-only Odometry

Compile

Dependency

ubuntu20.04 + ROS noetic
Eigen
ceres
PCL
yaml-cpp

    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag.

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag.

please ensure the topic in rosbag is same with in config file.

Developers

YunSu

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	roscpp
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/grodom_NTU.launch
- - rviz [default: true]
launch/grodom_RS16.launch
- - rviz [default: true]
launch/grodom_kitti.launch
- - rviz [default: true]
launch/grodom_mid360.launch
- - rviz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `grodom_ros1` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

grodom_ros1 package from glo repo

grodom_ros1

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.0.0
License	GPLv3
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	General LiDAR-Only Odometry with High Efficiency and Low Drift
Checkout URI	https://github.com/robosu12/glo.git
VCS Type	git
VCS Version	master
Last Updated	2025-02-08
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The grodom_ros1 package

Additional Links

No additional links.

Maintainers

YunSu

Authors

No additional authors.