ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 古月学院课程代码 |
| Checkout URI | https://github.com/guyuehome/guyueclass.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- LinJiarong
Authors
- Ji Zhang
LOAM-Livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)
In the development of our package, we reference to LOAM, LOAM_NOTED, and A-LOAM.
Developer: Jiarong Lin
Our related paper: our related papers are now available on arxiv:
- Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Our related video: our related videos are now available on YouTube (click below images to open):
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace “XXX” on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
1.3. PCL
Follow PCL Installation.
NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/loam_livox.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch
rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch
rosbag play YOUR_DOWNLOADED.bag
5. Rosbag Example with loop closure enabled
5.1. Loop closure demostration
We provide a rosbag file of small size (named “loop_loop_hku_zym.bag”, Download here) for demostration:
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/livox.launch
-
- rviz [default: true]
- launch/rosbag.launch
-
- rviz [default: true]
- launch/rosbag_largescale.launch
-
- rviz [default: true]
- launch/rosbag_loop.launch
-
- rviz [default: true]
- launch/rosbag_loop_simple.launch
-
- rviz [default: true]
- launch/rosbag_realtime.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged loam_livox at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 古月学院课程代码 |
| Checkout URI | https://github.com/guyuehome/guyueclass.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- LinJiarong
Authors
- Ji Zhang
LOAM-Livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)
In the development of our package, we reference to LOAM, LOAM_NOTED, and A-LOAM.
Developer: Jiarong Lin
Our related paper: our related papers are now available on arxiv:
- Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Our related video: our related videos are now available on YouTube (click below images to open):
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace “XXX” on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
1.3. PCL
Follow PCL Installation.
NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/loam_livox.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch
rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch
rosbag play YOUR_DOWNLOADED.bag
5. Rosbag Example with loop closure enabled
5.1. Loop closure demostration
We provide a rosbag file of small size (named “loop_loop_hku_zym.bag”, Download here) for demostration:
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/livox.launch
-
- rviz [default: true]
- launch/rosbag.launch
-
- rviz [default: true]
- launch/rosbag_largescale.launch
-
- rviz [default: true]
- launch/rosbag_loop.launch
-
- rviz [default: true]
- launch/rosbag_loop_simple.launch
-
- rviz [default: true]
- launch/rosbag_realtime.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged loam_livox at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 古月学院课程代码 |
| Checkout URI | https://github.com/guyuehome/guyueclass.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- LinJiarong
Authors
- Ji Zhang
LOAM-Livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)
In the development of our package, we reference to LOAM, LOAM_NOTED, and A-LOAM.
Developer: Jiarong Lin
Our related paper: our related papers are now available on arxiv:
- Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Our related video: our related videos are now available on YouTube (click below images to open):
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace “XXX” on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
1.3. PCL
Follow PCL Installation.
NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/loam_livox.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch
rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch
rosbag play YOUR_DOWNLOADED.bag
5. Rosbag Example with loop closure enabled
5.1. Loop closure demostration
We provide a rosbag file of small size (named “loop_loop_hku_zym.bag”, Download here) for demostration:
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/livox.launch
-
- rviz [default: true]
- launch/rosbag.launch
-
- rviz [default: true]
- launch/rosbag_largescale.launch
-
- rviz [default: true]
- launch/rosbag_loop.launch
-
- rviz [default: true]
- launch/rosbag_loop_simple.launch
-
- rviz [default: true]
- launch/rosbag_realtime.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged loam_livox at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 古月学院课程代码 |
| Checkout URI | https://github.com/guyuehome/guyueclass.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- LinJiarong
Authors
- Ji Zhang
LOAM-Livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)
In the development of our package, we reference to LOAM, LOAM_NOTED, and A-LOAM.
Developer: Jiarong Lin
Our related paper: our related papers are now available on arxiv:
- Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Our related video: our related videos are now available on YouTube (click below images to open):
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace “XXX” on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
1.3. PCL
Follow PCL Installation.
NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/loam_livox.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch
rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch
rosbag play YOUR_DOWNLOADED.bag
5. Rosbag Example with loop closure enabled
5.1. Loop closure demostration
We provide a rosbag file of small size (named “loop_loop_hku_zym.bag”, Download here) for demostration:
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/livox.launch
-
- rviz [default: true]
- launch/rosbag.launch
-
- rviz [default: true]
- launch/rosbag_largescale.launch
-
- rviz [default: true]
- launch/rosbag_loop.launch
-
- rviz [default: true]
- launch/rosbag_loop_simple.launch
-
- rviz [default: true]
- launch/rosbag_realtime.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged loam_livox at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 古月学院课程代码 |
| Checkout URI | https://github.com/guyuehome/guyueclass.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- LinJiarong
Authors
- Ji Zhang
LOAM-Livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)
In the development of our package, we reference to LOAM, LOAM_NOTED, and A-LOAM.
Developer: Jiarong Lin
Our related paper: our related papers are now available on arxiv:
- Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Our related video: our related videos are now available on YouTube (click below images to open):
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace “XXX” on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
1.3. PCL
Follow PCL Installation.
NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/loam_livox.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch
rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch
rosbag play YOUR_DOWNLOADED.bag
5. Rosbag Example with loop closure enabled
5.1. Loop closure demostration
We provide a rosbag file of small size (named “loop_loop_hku_zym.bag”, Download here) for demostration:
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/livox.launch
-
- rviz [default: true]
- launch/rosbag.launch
-
- rviz [default: true]
- launch/rosbag_largescale.launch
-
- rviz [default: true]
- launch/rosbag_loop.launch
-
- rviz [default: true]
- launch/rosbag_loop_simple.launch
-
- rviz [default: true]
- launch/rosbag_realtime.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged loam_livox at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 古月学院课程代码 |
| Checkout URI | https://github.com/guyuehome/guyueclass.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- LinJiarong
Authors
- Ji Zhang
LOAM-Livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)
In the development of our package, we reference to LOAM, LOAM_NOTED, and A-LOAM.
Developer: Jiarong Lin
Our related paper: our related papers are now available on arxiv:
- Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Our related video: our related videos are now available on YouTube (click below images to open):
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace “XXX” on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
1.3. PCL
Follow PCL Installation.
NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/loam_livox.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch
rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch
rosbag play YOUR_DOWNLOADED.bag
5. Rosbag Example with loop closure enabled
5.1. Loop closure demostration
We provide a rosbag file of small size (named “loop_loop_hku_zym.bag”, Download here) for demostration:
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/livox.launch
-
- rviz [default: true]
- launch/rosbag.launch
-
- rviz [default: true]
- launch/rosbag_largescale.launch
-
- rviz [default: true]
- launch/rosbag_loop.launch
-
- rviz [default: true]
- launch/rosbag_loop_simple.launch
-
- rviz [default: true]
- launch/rosbag_realtime.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged loam_livox at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 古月学院课程代码 |
| Checkout URI | https://github.com/guyuehome/guyueclass.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- LinJiarong
Authors
- Ji Zhang
LOAM-Livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)
In the development of our package, we reference to LOAM, LOAM_NOTED, and A-LOAM.
Developer: Jiarong Lin
Our related paper: our related papers are now available on arxiv:
- Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Our related video: our related videos are now available on YouTube (click below images to open):
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace “XXX” on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
1.3. PCL
Follow PCL Installation.
NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/loam_livox.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch
rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch
rosbag play YOUR_DOWNLOADED.bag
5. Rosbag Example with loop closure enabled
5.1. Loop closure demostration
We provide a rosbag file of small size (named “loop_loop_hku_zym.bag”, Download here) for demostration:
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/livox.launch
-
- rviz [default: true]
- launch/rosbag.launch
-
- rviz [default: true]
- launch/rosbag_largescale.launch
-
- rviz [default: true]
- launch/rosbag_loop.launch
-
- rviz [default: true]
- launch/rosbag_loop_simple.launch
-
- rviz [default: true]
- launch/rosbag_realtime.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged loam_livox at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 古月学院课程代码 |
| Checkout URI | https://github.com/guyuehome/guyueclass.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- LinJiarong
Authors
- Ji Zhang
LOAM-Livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)
In the development of our package, we reference to LOAM, LOAM_NOTED, and A-LOAM.
Developer: Jiarong Lin
Our related paper: our related papers are now available on arxiv:
- Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Our related video: our related videos are now available on YouTube (click below images to open):
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace “XXX” on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
1.3. PCL
Follow PCL Installation.
NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/loam_livox.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch
rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch
rosbag play YOUR_DOWNLOADED.bag
5. Rosbag Example with loop closure enabled
5.1. Loop closure demostration
We provide a rosbag file of small size (named “loop_loop_hku_zym.bag”, Download here) for demostration:
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/livox.launch
-
- rviz [default: true]
- launch/rosbag.launch
-
- rviz [default: true]
- launch/rosbag_largescale.launch
-
- rviz [default: true]
- launch/rosbag_loop.launch
-
- rviz [default: true]
- launch/rosbag_loop_simple.launch
-
- rviz [default: true]
- launch/rosbag_realtime.launch
-
- rviz [default: true]
Messages
Services
Plugins
Recent questions tagged loam_livox at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 古月学院课程代码 |
| Checkout URI | https://github.com/guyuehome/guyueclass.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- LinJiarong
Authors
- Ji Zhang
LOAM-Livox
A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)
In the development of our package, we reference to LOAM, LOAM_NOTED, and A-LOAM.
Developer: Jiarong Lin
Our related paper: our related papers are now available on arxiv:
- Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
- A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
Our related video: our related videos are now available on YouTube (click below images to open):
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace “XXX” on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
1.3. PCL
Follow PCL Installation.
NOTICE: Recently, we find that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples (issue #28). By this, we strongly recommand you to use update your PCL as version 1.9 if you are using the lower version.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/loam_livox.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch
rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch
rosbag play YOUR_DOWNLOADED.bag
5. Rosbag Example with loop closure enabled
5.1. Loop closure demostration
We provide a rosbag file of small size (named “loop_loop_hku_zym.bag”, Download here) for demostration:
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/livox.launch
-
- rviz [default: true]
- launch/rosbag.launch
-
- rviz [default: true]
- launch/rosbag_largescale.launch
-
- rviz [default: true]
- launch/rosbag_loop.launch
-
- rviz [default: true]
- launch/rosbag_loop_simple.launch
-
- rviz [default: true]
- launch/rosbag_realtime.launch
-
- rviz [default: true]