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

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type git
VCS Version lio_WIP
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Lidar Odometry

Additional Links

No additional links.

Maintainers

  • Tixiao Shan

Authors

  • Tixiao Shan

LIO-SAM

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A video of the demonstration of the method can be found on YouTube.

drawing

drawing drawing drawing drawing

System architecture

drawing

We design a system that maintains two graphs and runs up to 10x faster than real-time.

  • The factor graph in “mapOptimization.cpp” optimizes lidar odometry factor and GPS factor. This factor graph is maintained consistently throughout the whole test.
  • The factor graph in “imuPreintegration.cpp” optimizes IMU and lidar odometry factor and estimates IMU bias. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency.

Notes on ROS2 branch

There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely:

  • Testing with Velodyne & Livox lidars and Microstrain IMUs
  • A launch file for the navsat module/GPS factor
  • The rviz2 configuration misses many elements

This branch was tested with Ouster lidars, Xsens IMUs and SBG-Systems IMUs using the following ROS2 drivers:

In these tests, the IMU was mounted on the bottom of the lidar such that their x-axes pointed in the same direction. The parameters extrinsicRot and extrinsicRPY in params.yaml correspond to this constellation.

Dependencies

Tested with ROS2 versions foxy and galactic on Ubuntu 20.04 and humble on Ubuntu 22.04

  sudo apt install ros-<ros2-version>-perception-pcl \
		   ros-<ros2-version>-pcl-msgs \
		   ros-<ros2-version>-vision-opencv \
		   ros-<ros2-version>-xacro
  
  • gtsam (Georgia Tech Smoothing and Mapping library)
  # Add GTSAM-PPA
  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev
  

Install

Use the following commands to download and compile the package.

  cd ~/ros2_ws/src
  git clone https://github.com/TixiaoShan/LIO-SAM.git
  cd lio-sam
  git checkout ros2
  cd ..
  colcon build
  

Prepare lidar data

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged lio_sam at Robotics Stack Exchange

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

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type git
VCS Version lio_WIP
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Lidar Odometry

Additional Links

No additional links.

Maintainers

  • Tixiao Shan

Authors

  • Tixiao Shan

LIO-SAM

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A video of the demonstration of the method can be found on YouTube.

drawing

drawing drawing drawing drawing

System architecture

drawing

We design a system that maintains two graphs and runs up to 10x faster than real-time.

  • The factor graph in “mapOptimization.cpp” optimizes lidar odometry factor and GPS factor. This factor graph is maintained consistently throughout the whole test.
  • The factor graph in “imuPreintegration.cpp” optimizes IMU and lidar odometry factor and estimates IMU bias. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency.

Notes on ROS2 branch

There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely:

  • Testing with Velodyne & Livox lidars and Microstrain IMUs
  • A launch file for the navsat module/GPS factor
  • The rviz2 configuration misses many elements

This branch was tested with Ouster lidars, Xsens IMUs and SBG-Systems IMUs using the following ROS2 drivers:

In these tests, the IMU was mounted on the bottom of the lidar such that their x-axes pointed in the same direction. The parameters extrinsicRot and extrinsicRPY in params.yaml correspond to this constellation.

Dependencies

Tested with ROS2 versions foxy and galactic on Ubuntu 20.04 and humble on Ubuntu 22.04

  sudo apt install ros-<ros2-version>-perception-pcl \
		   ros-<ros2-version>-pcl-msgs \
		   ros-<ros2-version>-vision-opencv \
		   ros-<ros2-version>-xacro
  
  • gtsam (Georgia Tech Smoothing and Mapping library)
  # Add GTSAM-PPA
  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev
  

Install

Use the following commands to download and compile the package.

  cd ~/ros2_ws/src
  git clone https://github.com/TixiaoShan/LIO-SAM.git
  cd lio-sam
  git checkout ros2
  cd ..
  colcon build
  

Prepare lidar data

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged lio_sam at Robotics Stack Exchange

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

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type git
VCS Version lio_WIP
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Lidar Odometry

Additional Links

No additional links.

Maintainers

  • Tixiao Shan

Authors

  • Tixiao Shan

LIO-SAM

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A video of the demonstration of the method can be found on YouTube.

drawing

drawing drawing drawing drawing

System architecture

drawing

We design a system that maintains two graphs and runs up to 10x faster than real-time.

  • The factor graph in “mapOptimization.cpp” optimizes lidar odometry factor and GPS factor. This factor graph is maintained consistently throughout the whole test.
  • The factor graph in “imuPreintegration.cpp” optimizes IMU and lidar odometry factor and estimates IMU bias. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency.

Notes on ROS2 branch

There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely:

  • Testing with Velodyne & Livox lidars and Microstrain IMUs
  • A launch file for the navsat module/GPS factor
  • The rviz2 configuration misses many elements

This branch was tested with Ouster lidars, Xsens IMUs and SBG-Systems IMUs using the following ROS2 drivers:

In these tests, the IMU was mounted on the bottom of the lidar such that their x-axes pointed in the same direction. The parameters extrinsicRot and extrinsicRPY in params.yaml correspond to this constellation.

Dependencies

Tested with ROS2 versions foxy and galactic on Ubuntu 20.04 and humble on Ubuntu 22.04

  sudo apt install ros-<ros2-version>-perception-pcl \
		   ros-<ros2-version>-pcl-msgs \
		   ros-<ros2-version>-vision-opencv \
		   ros-<ros2-version>-xacro
  
  • gtsam (Georgia Tech Smoothing and Mapping library)
  # Add GTSAM-PPA
  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev
  

Install

Use the following commands to download and compile the package.

  cd ~/ros2_ws/src
  git clone https://github.com/TixiaoShan/LIO-SAM.git
  cd lio-sam
  git checkout ros2
  cd ..
  colcon build
  

Prepare lidar data

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged lio_sam at Robotics Stack Exchange

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

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type git
VCS Version lio_WIP
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Lidar Odometry

Additional Links

No additional links.

Maintainers

  • Tixiao Shan

Authors

  • Tixiao Shan

LIO-SAM

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A video of the demonstration of the method can be found on YouTube.

drawing

drawing drawing drawing drawing

System architecture

drawing

We design a system that maintains two graphs and runs up to 10x faster than real-time.

  • The factor graph in “mapOptimization.cpp” optimizes lidar odometry factor and GPS factor. This factor graph is maintained consistently throughout the whole test.
  • The factor graph in “imuPreintegration.cpp” optimizes IMU and lidar odometry factor and estimates IMU bias. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency.

Notes on ROS2 branch

There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely:

  • Testing with Velodyne & Livox lidars and Microstrain IMUs
  • A launch file for the navsat module/GPS factor
  • The rviz2 configuration misses many elements

This branch was tested with Ouster lidars, Xsens IMUs and SBG-Systems IMUs using the following ROS2 drivers:

In these tests, the IMU was mounted on the bottom of the lidar such that their x-axes pointed in the same direction. The parameters extrinsicRot and extrinsicRPY in params.yaml correspond to this constellation.

Dependencies

Tested with ROS2 versions foxy and galactic on Ubuntu 20.04 and humble on Ubuntu 22.04

  sudo apt install ros-<ros2-version>-perception-pcl \
		   ros-<ros2-version>-pcl-msgs \
		   ros-<ros2-version>-vision-opencv \
		   ros-<ros2-version>-xacro
  
  • gtsam (Georgia Tech Smoothing and Mapping library)
  # Add GTSAM-PPA
  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev
  

Install

Use the following commands to download and compile the package.

  cd ~/ros2_ws/src
  git clone https://github.com/TixiaoShan/LIO-SAM.git
  cd lio-sam
  git checkout ros2
  cd ..
  colcon build
  

Prepare lidar data

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged lio_sam at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type git
VCS Version lio_WIP
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Lidar Odometry

Additional Links

No additional links.

Maintainers

  • Tixiao Shan

Authors

  • Tixiao Shan

LIO-SAM

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A video of the demonstration of the method can be found on YouTube.

drawing

drawing drawing drawing drawing

System architecture

drawing

We design a system that maintains two graphs and runs up to 10x faster than real-time.

  • The factor graph in “mapOptimization.cpp” optimizes lidar odometry factor and GPS factor. This factor graph is maintained consistently throughout the whole test.
  • The factor graph in “imuPreintegration.cpp” optimizes IMU and lidar odometry factor and estimates IMU bias. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency.

Notes on ROS2 branch

There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely:

  • Testing with Velodyne & Livox lidars and Microstrain IMUs
  • A launch file for the navsat module/GPS factor
  • The rviz2 configuration misses many elements

This branch was tested with Ouster lidars, Xsens IMUs and SBG-Systems IMUs using the following ROS2 drivers:

In these tests, the IMU was mounted on the bottom of the lidar such that their x-axes pointed in the same direction. The parameters extrinsicRot and extrinsicRPY in params.yaml correspond to this constellation.

Dependencies

Tested with ROS2 versions foxy and galactic on Ubuntu 20.04 and humble on Ubuntu 22.04

  sudo apt install ros-<ros2-version>-perception-pcl \
		   ros-<ros2-version>-pcl-msgs \
		   ros-<ros2-version>-vision-opencv \
		   ros-<ros2-version>-xacro
  
  • gtsam (Georgia Tech Smoothing and Mapping library)
  # Add GTSAM-PPA
  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev
  

Install

Use the following commands to download and compile the package.

  cd ~/ros2_ws/src
  git clone https://github.com/TixiaoShan/LIO-SAM.git
  cd lio-sam
  git checkout ros2
  cd ..
  colcon build
  

Prepare lidar data

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged lio_sam at Robotics Stack Exchange

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

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type git
VCS Version lio_WIP
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Lidar Odometry

Additional Links

No additional links.

Maintainers

  • Tixiao Shan

Authors

  • Tixiao Shan

LIO-SAM

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A video of the demonstration of the method can be found on YouTube.

drawing

drawing drawing drawing drawing

System architecture

drawing

We design a system that maintains two graphs and runs up to 10x faster than real-time.

  • The factor graph in “mapOptimization.cpp” optimizes lidar odometry factor and GPS factor. This factor graph is maintained consistently throughout the whole test.
  • The factor graph in “imuPreintegration.cpp” optimizes IMU and lidar odometry factor and estimates IMU bias. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency.

Notes on ROS2 branch

There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely:

  • Testing with Velodyne & Livox lidars and Microstrain IMUs
  • A launch file for the navsat module/GPS factor
  • The rviz2 configuration misses many elements

This branch was tested with Ouster lidars, Xsens IMUs and SBG-Systems IMUs using the following ROS2 drivers:

In these tests, the IMU was mounted on the bottom of the lidar such that their x-axes pointed in the same direction. The parameters extrinsicRot and extrinsicRPY in params.yaml correspond to this constellation.

Dependencies

Tested with ROS2 versions foxy and galactic on Ubuntu 20.04 and humble on Ubuntu 22.04

  sudo apt install ros-<ros2-version>-perception-pcl \
		   ros-<ros2-version>-pcl-msgs \
		   ros-<ros2-version>-vision-opencv \
		   ros-<ros2-version>-xacro
  
  • gtsam (Georgia Tech Smoothing and Mapping library)
  # Add GTSAM-PPA
  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev
  

Install

Use the following commands to download and compile the package.

  cd ~/ros2_ws/src
  git clone https://github.com/TixiaoShan/LIO-SAM.git
  cd lio-sam
  git checkout ros2
  cd ..
  colcon build
  

Prepare lidar data

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged lio_sam at Robotics Stack Exchange

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

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type git
VCS Version lio_WIP
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Lidar Odometry

Additional Links

No additional links.

Maintainers

  • Tixiao Shan

Authors

  • Tixiao Shan

LIO-SAM

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A video of the demonstration of the method can be found on YouTube.

drawing

drawing drawing drawing drawing

System architecture

drawing

We design a system that maintains two graphs and runs up to 10x faster than real-time.

  • The factor graph in “mapOptimization.cpp” optimizes lidar odometry factor and GPS factor. This factor graph is maintained consistently throughout the whole test.
  • The factor graph in “imuPreintegration.cpp” optimizes IMU and lidar odometry factor and estimates IMU bias. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency.

Notes on ROS2 branch

There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely:

  • Testing with Velodyne & Livox lidars and Microstrain IMUs
  • A launch file for the navsat module/GPS factor
  • The rviz2 configuration misses many elements

This branch was tested with Ouster lidars, Xsens IMUs and SBG-Systems IMUs using the following ROS2 drivers:

In these tests, the IMU was mounted on the bottom of the lidar such that their x-axes pointed in the same direction. The parameters extrinsicRot and extrinsicRPY in params.yaml correspond to this constellation.

Dependencies

Tested with ROS2 versions foxy and galactic on Ubuntu 20.04 and humble on Ubuntu 22.04

  sudo apt install ros-<ros2-version>-perception-pcl \
		   ros-<ros2-version>-pcl-msgs \
		   ros-<ros2-version>-vision-opencv \
		   ros-<ros2-version>-xacro
  
  • gtsam (Georgia Tech Smoothing and Mapping library)
  # Add GTSAM-PPA
  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev
  

Install

Use the following commands to download and compile the package.

  cd ~/ros2_ws/src
  git clone https://github.com/TixiaoShan/LIO-SAM.git
  cd lio-sam
  git checkout ros2
  cd ..
  colcon build
  

Prepare lidar data

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged lio_sam at Robotics Stack Exchange

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

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type git
VCS Version lio_WIP
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Lidar Odometry

Additional Links

No additional links.

Maintainers

  • Tixiao Shan

Authors

  • Tixiao Shan

LIO-SAM

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A video of the demonstration of the method can be found on YouTube.

drawing

drawing drawing drawing drawing

System architecture

drawing

We design a system that maintains two graphs and runs up to 10x faster than real-time.

  • The factor graph in “mapOptimization.cpp” optimizes lidar odometry factor and GPS factor. This factor graph is maintained consistently throughout the whole test.
  • The factor graph in “imuPreintegration.cpp” optimizes IMU and lidar odometry factor and estimates IMU bias. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency.

Notes on ROS2 branch

There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely:

  • Testing with Velodyne & Livox lidars and Microstrain IMUs
  • A launch file for the navsat module/GPS factor
  • The rviz2 configuration misses many elements

This branch was tested with Ouster lidars, Xsens IMUs and SBG-Systems IMUs using the following ROS2 drivers:

In these tests, the IMU was mounted on the bottom of the lidar such that their x-axes pointed in the same direction. The parameters extrinsicRot and extrinsicRPY in params.yaml correspond to this constellation.

Dependencies

Tested with ROS2 versions foxy and galactic on Ubuntu 20.04 and humble on Ubuntu 22.04

  sudo apt install ros-<ros2-version>-perception-pcl \
		   ros-<ros2-version>-pcl-msgs \
		   ros-<ros2-version>-vision-opencv \
		   ros-<ros2-version>-xacro
  
  • gtsam (Georgia Tech Smoothing and Mapping library)
  # Add GTSAM-PPA
  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev
  

Install

Use the following commands to download and compile the package.

  cd ~/ros2_ws/src
  git clone https://github.com/TixiaoShan/LIO-SAM.git
  cd lio-sam
  git checkout ros2
  cd ..
  colcon build
  

Prepare lidar data

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged lio_sam at Robotics Stack Exchange

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

Package Summary

Tags No category tags.
Version 1.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/tup-robomaster/tup2023-sentry-nav.git
VCS Type git
VCS Version lio_WIP
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Lidar Odometry

Additional Links

No additional links.

Maintainers

  • Tixiao Shan

Authors

  • Tixiao Shan

LIO-SAM

A real-time lidar-inertial odometry package. We strongly recommend the users read this document thoroughly and test the package with the provided dataset first. A video of the demonstration of the method can be found on YouTube.

drawing

drawing drawing drawing drawing

System architecture

drawing

We design a system that maintains two graphs and runs up to 10x faster than real-time.

  • The factor graph in “mapOptimization.cpp” optimizes lidar odometry factor and GPS factor. This factor graph is maintained consistently throughout the whole test.
  • The factor graph in “imuPreintegration.cpp” optimizes IMU and lidar odometry factor and estimates IMU bias. This factor graph is reset periodically and guarantees real-time odometry estimation at IMU frequency.

Notes on ROS2 branch

There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely:

  • Testing with Velodyne & Livox lidars and Microstrain IMUs
  • A launch file for the navsat module/GPS factor
  • The rviz2 configuration misses many elements

This branch was tested with Ouster lidars, Xsens IMUs and SBG-Systems IMUs using the following ROS2 drivers:

In these tests, the IMU was mounted on the bottom of the lidar such that their x-axes pointed in the same direction. The parameters extrinsicRot and extrinsicRPY in params.yaml correspond to this constellation.

Dependencies

Tested with ROS2 versions foxy and galactic on Ubuntu 20.04 and humble on Ubuntu 22.04

  sudo apt install ros-<ros2-version>-perception-pcl \
		   ros-<ros2-version>-pcl-msgs \
		   ros-<ros2-version>-vision-opencv \
		   ros-<ros2-version>-xacro
  
  • gtsam (Georgia Tech Smoothing and Mapping library)
  # Add GTSAM-PPA
  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev
  

Install

Use the following commands to download and compile the package.

  cd ~/ros2_ws/src
  git clone https://github.com/TixiaoShan/LIO-SAM.git
  cd lio-sam
  git checkout ros2
  cd ..
  colcon build
  

Prepare lidar data

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged lio_sam at Robotics Stack Exchange