ig_lio_slam - ROS Repository Overview

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

ig_lio_slam repository

grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_tools rviz_imu_plugin costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_gradient_costmap_plugin nav2_lifecycle_manager nav2_map_server nav2_msg_costmap_plugin nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 teb_local_planner teb_msgs octomap ig_lio_c ig_lio_c_msgs

ROS Distro
github

Repository Summary

Description	适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB
Checkout URI	https://github.com/inif-fish/ig_lio_slam.git
VCS Type	git
VCS Version	master
Last Updated	2024-05-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
grid_map	2.0.0
grid_map_cmake_helpers	2.0.0
grid_map_core	2.0.0
grid_map_costmap_2d	2.0.0
grid_map_cv	2.0.0
grid_map_demos	2.0.0
grid_map_filters	2.0.0
grid_map_loader	2.0.0
grid_map_msgs	2.0.0
grid_map_octomap	2.0.0
grid_map_pcl	2.0.0
grid_map_ros	2.0.0
grid_map_rviz_plugin	2.0.0
grid_map_sdf	2.0.0
grid_map_visualization	2.0.0
imu_complementary_filter	2.0.3
imu_tools	2.0.3
rviz_imu_plugin	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_gradient_costmap_plugin	1.0.0
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msg_costmap_plugin	1.0.0
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap	1.9.8
ig_lio_c	0.0.0
ig_lio_c_msgs	2.0.0

README

ROS2版本iG-LIO

本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测

集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案注：目前适配倒置安装方案，其他安装方案请注意修改参数

工作基于
https://github.com/liangheming/iG-LIO_SAM_LC
https://github.com/KTH-RPL/DynamicMap_Benchmark
https://github.com/CCNYRoboticsLab/imu_tools
https://github.com/ros-planning/navigation2
https://github.com/rst-tu-dortmund/teb_local_planner
https://github.com/ANYbotics/grid_map

环境

软件	安装	版本
Eigen3	apt安装	3.3.7
ROS2	apt安装	galactic
Ceres	编译安装	2.1.0
Sophus	编译安装	1.22.10
gtsam	编译安装	4.20
fmt	任意	latest
yaml-cpp	编译安装	fit system
Glog / gflag	任意	latest
Livox-SDK2	编译安装	https://github.com/Livox-SDK/Livox-SDK2
livox_ros_driver2	编译安装	https://github.com/Livox-SDK/livox_ros_driver2
TBB	apt安装	2020.1-2

配置文件

ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml

src/ig_lio_c/config/config_fg.yaml

src/ig_lio_c/config/parameters.yaml

命令

增加UDP缓冲区

sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"

效果图

CONTRIBUTING

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

ig_lio_slam repository

grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_tools rviz_imu_plugin costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_gradient_costmap_plugin nav2_lifecycle_manager nav2_map_server nav2_msg_costmap_plugin nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 teb_local_planner teb_msgs octomap ig_lio_c ig_lio_c_msgs

ROS Distro
github

Repository Summary

Description	适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB
Checkout URI	https://github.com/inif-fish/ig_lio_slam.git
VCS Type	git
VCS Version	master
Last Updated	2024-05-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
grid_map	2.0.0
grid_map_cmake_helpers	2.0.0
grid_map_core	2.0.0
grid_map_costmap_2d	2.0.0
grid_map_cv	2.0.0
grid_map_demos	2.0.0
grid_map_filters	2.0.0
grid_map_loader	2.0.0
grid_map_msgs	2.0.0
grid_map_octomap	2.0.0
grid_map_pcl	2.0.0
grid_map_ros	2.0.0
grid_map_rviz_plugin	2.0.0
grid_map_sdf	2.0.0
grid_map_visualization	2.0.0
imu_complementary_filter	2.0.3
imu_tools	2.0.3
rviz_imu_plugin	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_gradient_costmap_plugin	1.0.0
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msg_costmap_plugin	1.0.0
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap	1.9.8
ig_lio_c	0.0.0
ig_lio_c_msgs	2.0.0

README

ROS2版本iG-LIO

本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测

集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案注：目前适配倒置安装方案，其他安装方案请注意修改参数

工作基于
https://github.com/liangheming/iG-LIO_SAM_LC
https://github.com/KTH-RPL/DynamicMap_Benchmark
https://github.com/CCNYRoboticsLab/imu_tools
https://github.com/ros-planning/navigation2
https://github.com/rst-tu-dortmund/teb_local_planner
https://github.com/ANYbotics/grid_map

环境

软件	安装	版本
Eigen3	apt安装	3.3.7
ROS2	apt安装	galactic
Ceres	编译安装	2.1.0
Sophus	编译安装	1.22.10
gtsam	编译安装	4.20
fmt	任意	latest
yaml-cpp	编译安装	fit system
Glog / gflag	任意	latest
Livox-SDK2	编译安装	https://github.com/Livox-SDK/Livox-SDK2
livox_ros_driver2	编译安装	https://github.com/Livox-SDK/livox_ros_driver2
TBB	apt安装	2020.1-2

配置文件

ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml

src/ig_lio_c/config/config_fg.yaml

src/ig_lio_c/config/parameters.yaml

命令

增加UDP缓冲区

sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"

效果图

CONTRIBUTING

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

ig_lio_slam repository

grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_tools rviz_imu_plugin costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_gradient_costmap_plugin nav2_lifecycle_manager nav2_map_server nav2_msg_costmap_plugin nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 teb_local_planner teb_msgs octomap ig_lio_c ig_lio_c_msgs

ROS Distro
github

Repository Summary

Description	适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB
Checkout URI	https://github.com/inif-fish/ig_lio_slam.git
VCS Type	git
VCS Version	master
Last Updated	2024-05-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
grid_map	2.0.0
grid_map_cmake_helpers	2.0.0
grid_map_core	2.0.0
grid_map_costmap_2d	2.0.0
grid_map_cv	2.0.0
grid_map_demos	2.0.0
grid_map_filters	2.0.0
grid_map_loader	2.0.0
grid_map_msgs	2.0.0
grid_map_octomap	2.0.0
grid_map_pcl	2.0.0
grid_map_ros	2.0.0
grid_map_rviz_plugin	2.0.0
grid_map_sdf	2.0.0
grid_map_visualization	2.0.0
imu_complementary_filter	2.0.3
imu_tools	2.0.3
rviz_imu_plugin	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_gradient_costmap_plugin	1.0.0
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msg_costmap_plugin	1.0.0
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap	1.9.8
ig_lio_c	0.0.0
ig_lio_c_msgs	2.0.0

README

ROS2版本iG-LIO

本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测

集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案注：目前适配倒置安装方案，其他安装方案请注意修改参数

工作基于
https://github.com/liangheming/iG-LIO_SAM_LC
https://github.com/KTH-RPL/DynamicMap_Benchmark
https://github.com/CCNYRoboticsLab/imu_tools
https://github.com/ros-planning/navigation2
https://github.com/rst-tu-dortmund/teb_local_planner
https://github.com/ANYbotics/grid_map

环境

软件	安装	版本
Eigen3	apt安装	3.3.7
ROS2	apt安装	galactic
Ceres	编译安装	2.1.0
Sophus	编译安装	1.22.10
gtsam	编译安装	4.20
fmt	任意	latest
yaml-cpp	编译安装	fit system
Glog / gflag	任意	latest
Livox-SDK2	编译安装	https://github.com/Livox-SDK/Livox-SDK2
livox_ros_driver2	编译安装	https://github.com/Livox-SDK/livox_ros_driver2
TBB	apt安装	2020.1-2

配置文件

ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml

src/ig_lio_c/config/config_fg.yaml

src/ig_lio_c/config/parameters.yaml

命令

增加UDP缓冲区

sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"

效果图

CONTRIBUTING

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

ig_lio_slam repository

grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_tools rviz_imu_plugin costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_gradient_costmap_plugin nav2_lifecycle_manager nav2_map_server nav2_msg_costmap_plugin nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 teb_local_planner teb_msgs octomap ig_lio_c ig_lio_c_msgs

ROS Distro
github

Repository Summary

Description	适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB
Checkout URI	https://github.com/inif-fish/ig_lio_slam.git
VCS Type	git
VCS Version	master
Last Updated	2024-05-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
grid_map	2.0.0
grid_map_cmake_helpers	2.0.0
grid_map_core	2.0.0
grid_map_costmap_2d	2.0.0
grid_map_cv	2.0.0
grid_map_demos	2.0.0
grid_map_filters	2.0.0
grid_map_loader	2.0.0
grid_map_msgs	2.0.0
grid_map_octomap	2.0.0
grid_map_pcl	2.0.0
grid_map_ros	2.0.0
grid_map_rviz_plugin	2.0.0
grid_map_sdf	2.0.0
grid_map_visualization	2.0.0
imu_complementary_filter	2.0.3
imu_tools	2.0.3
rviz_imu_plugin	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_gradient_costmap_plugin	1.0.0
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msg_costmap_plugin	1.0.0
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap	1.9.8
ig_lio_c	0.0.0
ig_lio_c_msgs	2.0.0

README

ROS2版本iG-LIO

本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测

集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案注：目前适配倒置安装方案，其他安装方案请注意修改参数

工作基于
https://github.com/liangheming/iG-LIO_SAM_LC
https://github.com/KTH-RPL/DynamicMap_Benchmark
https://github.com/CCNYRoboticsLab/imu_tools
https://github.com/ros-planning/navigation2
https://github.com/rst-tu-dortmund/teb_local_planner
https://github.com/ANYbotics/grid_map

环境

软件	安装	版本
Eigen3	apt安装	3.3.7
ROS2	apt安装	galactic
Ceres	编译安装	2.1.0
Sophus	编译安装	1.22.10
gtsam	编译安装	4.20
fmt	任意	latest
yaml-cpp	编译安装	fit system
Glog / gflag	任意	latest
Livox-SDK2	编译安装	https://github.com/Livox-SDK/Livox-SDK2
livox_ros_driver2	编译安装	https://github.com/Livox-SDK/livox_ros_driver2
TBB	apt安装	2020.1-2

配置文件

ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml

src/ig_lio_c/config/config_fg.yaml

src/ig_lio_c/config/parameters.yaml

命令

增加UDP缓冲区

sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"

效果图

CONTRIBUTING

ig_lio_slam repository

grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_tools rviz_imu_plugin costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_gradient_costmap_plugin nav2_lifecycle_manager nav2_map_server nav2_msg_costmap_plugin nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 teb_local_planner teb_msgs octomap ig_lio_c ig_lio_c_msgs

ROS Distro
github

Repository Summary

Description	适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB
Checkout URI	https://github.com/inif-fish/ig_lio_slam.git
VCS Type	git
VCS Version	master
Last Updated	2024-05-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
grid_map	2.0.0
grid_map_cmake_helpers	2.0.0
grid_map_core	2.0.0
grid_map_costmap_2d	2.0.0
grid_map_cv	2.0.0
grid_map_demos	2.0.0
grid_map_filters	2.0.0
grid_map_loader	2.0.0
grid_map_msgs	2.0.0
grid_map_octomap	2.0.0
grid_map_pcl	2.0.0
grid_map_ros	2.0.0
grid_map_rviz_plugin	2.0.0
grid_map_sdf	2.0.0
grid_map_visualization	2.0.0
imu_complementary_filter	2.0.3
imu_tools	2.0.3
rviz_imu_plugin	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_gradient_costmap_plugin	1.0.0
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msg_costmap_plugin	1.0.0
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap	1.9.8
ig_lio_c	0.0.0
ig_lio_c_msgs	2.0.0

README

ROS2版本iG-LIO

本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测

集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案注：目前适配倒置安装方案，其他安装方案请注意修改参数

工作基于
https://github.com/liangheming/iG-LIO_SAM_LC
https://github.com/KTH-RPL/DynamicMap_Benchmark
https://github.com/CCNYRoboticsLab/imu_tools
https://github.com/ros-planning/navigation2
https://github.com/rst-tu-dortmund/teb_local_planner
https://github.com/ANYbotics/grid_map

环境

软件	安装	版本
Eigen3	apt安装	3.3.7
ROS2	apt安装	galactic
Ceres	编译安装	2.1.0
Sophus	编译安装	1.22.10
gtsam	编译安装	4.20
fmt	任意	latest
yaml-cpp	编译安装	fit system
Glog / gflag	任意	latest
Livox-SDK2	编译安装	https://github.com/Livox-SDK/Livox-SDK2
livox_ros_driver2	编译安装	https://github.com/Livox-SDK/livox_ros_driver2
TBB	apt安装	2020.1-2

配置文件

ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml

src/ig_lio_c/config/config_fg.yaml

src/ig_lio_c/config/parameters.yaml

命令

增加UDP缓冲区

sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"

效果图

CONTRIBUTING

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

ig_lio_slam repository

grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_tools rviz_imu_plugin costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_gradient_costmap_plugin nav2_lifecycle_manager nav2_map_server nav2_msg_costmap_plugin nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 teb_local_planner teb_msgs octomap ig_lio_c ig_lio_c_msgs

ROS Distro
github

Repository Summary

Description	适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB
Checkout URI	https://github.com/inif-fish/ig_lio_slam.git
VCS Type	git
VCS Version	master
Last Updated	2024-05-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
grid_map	2.0.0
grid_map_cmake_helpers	2.0.0
grid_map_core	2.0.0
grid_map_costmap_2d	2.0.0
grid_map_cv	2.0.0
grid_map_demos	2.0.0
grid_map_filters	2.0.0
grid_map_loader	2.0.0
grid_map_msgs	2.0.0
grid_map_octomap	2.0.0
grid_map_pcl	2.0.0
grid_map_ros	2.0.0
grid_map_rviz_plugin	2.0.0
grid_map_sdf	2.0.0
grid_map_visualization	2.0.0
imu_complementary_filter	2.0.3
imu_tools	2.0.3
rviz_imu_plugin	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_gradient_costmap_plugin	1.0.0
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msg_costmap_plugin	1.0.0
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap	1.9.8
ig_lio_c	0.0.0
ig_lio_c_msgs	2.0.0

README

ROS2版本iG-LIO

本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测

集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案注：目前适配倒置安装方案，其他安装方案请注意修改参数

工作基于
https://github.com/liangheming/iG-LIO_SAM_LC
https://github.com/KTH-RPL/DynamicMap_Benchmark
https://github.com/CCNYRoboticsLab/imu_tools
https://github.com/ros-planning/navigation2
https://github.com/rst-tu-dortmund/teb_local_planner
https://github.com/ANYbotics/grid_map

环境

软件	安装	版本
Eigen3	apt安装	3.3.7
ROS2	apt安装	galactic
Ceres	编译安装	2.1.0
Sophus	编译安装	1.22.10
gtsam	编译安装	4.20
fmt	任意	latest
yaml-cpp	编译安装	fit system
Glog / gflag	任意	latest
Livox-SDK2	编译安装	https://github.com/Livox-SDK/Livox-SDK2
livox_ros_driver2	编译安装	https://github.com/Livox-SDK/livox_ros_driver2
TBB	apt安装	2020.1-2

配置文件

ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml

src/ig_lio_c/config/config_fg.yaml

src/ig_lio_c/config/parameters.yaml

命令

增加UDP缓冲区

sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"

效果图

CONTRIBUTING

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

ig_lio_slam repository

grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_tools rviz_imu_plugin costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_gradient_costmap_plugin nav2_lifecycle_manager nav2_map_server nav2_msg_costmap_plugin nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 teb_local_planner teb_msgs octomap ig_lio_c ig_lio_c_msgs

ROS Distro
github

Repository Summary

Description	适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB
Checkout URI	https://github.com/inif-fish/ig_lio_slam.git
VCS Type	git
VCS Version	master
Last Updated	2024-05-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
grid_map	2.0.0
grid_map_cmake_helpers	2.0.0
grid_map_core	2.0.0
grid_map_costmap_2d	2.0.0
grid_map_cv	2.0.0
grid_map_demos	2.0.0
grid_map_filters	2.0.0
grid_map_loader	2.0.0
grid_map_msgs	2.0.0
grid_map_octomap	2.0.0
grid_map_pcl	2.0.0
grid_map_ros	2.0.0
grid_map_rviz_plugin	2.0.0
grid_map_sdf	2.0.0
grid_map_visualization	2.0.0
imu_complementary_filter	2.0.3
imu_tools	2.0.3
rviz_imu_plugin	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_gradient_costmap_plugin	1.0.0
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msg_costmap_plugin	1.0.0
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap	1.9.8
ig_lio_c	0.0.0
ig_lio_c_msgs	2.0.0

README

ROS2版本iG-LIO

本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测

集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案注：目前适配倒置安装方案，其他安装方案请注意修改参数

工作基于
https://github.com/liangheming/iG-LIO_SAM_LC
https://github.com/KTH-RPL/DynamicMap_Benchmark
https://github.com/CCNYRoboticsLab/imu_tools
https://github.com/ros-planning/navigation2
https://github.com/rst-tu-dortmund/teb_local_planner
https://github.com/ANYbotics/grid_map

环境

软件	安装	版本
Eigen3	apt安装	3.3.7
ROS2	apt安装	galactic
Ceres	编译安装	2.1.0
Sophus	编译安装	1.22.10
gtsam	编译安装	4.20
fmt	任意	latest
yaml-cpp	编译安装	fit system
Glog / gflag	任意	latest
Livox-SDK2	编译安装	https://github.com/Livox-SDK/Livox-SDK2
livox_ros_driver2	编译安装	https://github.com/Livox-SDK/livox_ros_driver2
TBB	apt安装	2020.1-2

配置文件

ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml

src/ig_lio_c/config/config_fg.yaml

src/ig_lio_c/config/parameters.yaml

命令

增加UDP缓冲区

sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"

效果图

CONTRIBUTING

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

ig_lio_slam repository

grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_tools rviz_imu_plugin costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_gradient_costmap_plugin nav2_lifecycle_manager nav2_map_server nav2_msg_costmap_plugin nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 teb_local_planner teb_msgs octomap ig_lio_c ig_lio_c_msgs

ROS Distro
github

Repository Summary

Description	适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB
Checkout URI	https://github.com/inif-fish/ig_lio_slam.git
VCS Type	git
VCS Version	master
Last Updated	2024-05-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
grid_map	2.0.0
grid_map_cmake_helpers	2.0.0
grid_map_core	2.0.0
grid_map_costmap_2d	2.0.0
grid_map_cv	2.0.0
grid_map_demos	2.0.0
grid_map_filters	2.0.0
grid_map_loader	2.0.0
grid_map_msgs	2.0.0
grid_map_octomap	2.0.0
grid_map_pcl	2.0.0
grid_map_ros	2.0.0
grid_map_rviz_plugin	2.0.0
grid_map_sdf	2.0.0
grid_map_visualization	2.0.0
imu_complementary_filter	2.0.3
imu_tools	2.0.3
rviz_imu_plugin	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_gradient_costmap_plugin	1.0.0
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msg_costmap_plugin	1.0.0
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap	1.9.8
ig_lio_c	0.0.0
ig_lio_c_msgs	2.0.0

README

ROS2版本iG-LIO

本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测

集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案注：目前适配倒置安装方案，其他安装方案请注意修改参数

工作基于
https://github.com/liangheming/iG-LIO_SAM_LC
https://github.com/KTH-RPL/DynamicMap_Benchmark
https://github.com/CCNYRoboticsLab/imu_tools
https://github.com/ros-planning/navigation2
https://github.com/rst-tu-dortmund/teb_local_planner
https://github.com/ANYbotics/grid_map

环境

软件	安装	版本
Eigen3	apt安装	3.3.7
ROS2	apt安装	galactic
Ceres	编译安装	2.1.0
Sophus	编译安装	1.22.10
gtsam	编译安装	4.20
fmt	任意	latest
yaml-cpp	编译安装	fit system
Glog / gflag	任意	latest
Livox-SDK2	编译安装	https://github.com/Livox-SDK/Livox-SDK2
livox_ros_driver2	编译安装	https://github.com/Livox-SDK/livox_ros_driver2
TBB	apt安装	2020.1-2

配置文件

ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml

src/ig_lio_c/config/config_fg.yaml

src/ig_lio_c/config/parameters.yaml

命令

增加UDP缓冲区

sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"

效果图

CONTRIBUTING

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

ig_lio_slam repository

grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization imu_complementary_filter imu_tools rviz_imu_plugin costmap_converter costmap_converter_msgs nav2_amcl nav2_behavior_tree nav2_bringup nav2_gazebo_spawner nav2_bt_navigator nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_gradient_costmap_plugin nav2_lifecycle_manager nav2_map_server nav2_msg_costmap_plugin nav2_msgs nav2_navfn_planner nav2_planner nav2_recoveries nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_system_tests nav2_theta_star_planner nav2_util nav2_voxel_grid nav2_waypoint_follower navigation2 teb_local_planner teb_msgs octomap ig_lio_c ig_lio_c_msgs

ROS Distro
github

Repository Summary

Description	适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB
Checkout URI	https://github.com/inif-fish/ig_lio_slam.git
VCS Type	git
VCS Version	master
Last Updated	2024-05-14
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
grid_map	2.0.0
grid_map_cmake_helpers	2.0.0
grid_map_core	2.0.0
grid_map_costmap_2d	2.0.0
grid_map_cv	2.0.0
grid_map_demos	2.0.0
grid_map_filters	2.0.0
grid_map_loader	2.0.0
grid_map_msgs	2.0.0
grid_map_octomap	2.0.0
grid_map_pcl	2.0.0
grid_map_ros	2.0.0
grid_map_rviz_plugin	2.0.0
grid_map_sdf	2.0.0
grid_map_visualization	2.0.0
imu_complementary_filter	2.0.3
imu_tools	2.0.3
rviz_imu_plugin	2.0.3
costmap_converter	0.1.2
costmap_converter_msgs	0.1.2
nav2_amcl	1.0.12
nav2_behavior_tree	1.0.12
nav2_bringup	1.0.12
nav2_gazebo_spawner	1.0.12
nav2_bt_navigator	1.0.12
nav2_common	1.0.12
nav2_controller	1.0.12
nav2_core	1.0.12
nav2_costmap_2d	1.0.12
costmap_queue	1.0.12
dwb_core	1.0.12
dwb_critics	1.0.12
dwb_msgs	1.0.12
dwb_plugins	1.0.12
nav2_dwb_controller	1.0.12
nav_2d_msgs	1.0.12
nav_2d_utils	1.0.12
nav2_gradient_costmap_plugin	1.0.0
nav2_lifecycle_manager	1.0.12
nav2_map_server	1.0.12
nav2_msg_costmap_plugin	1.0.0
nav2_msgs	1.0.12
nav2_navfn_planner	1.0.12
nav2_planner	1.0.12
nav2_recoveries	1.0.12
nav2_regulated_pure_pursuit_controller	1.0.12
nav2_rotation_shim_controller	1.0.12
nav2_rviz_plugins	1.0.12
nav2_simple_commander	1.0.12
nav2_smac_planner	1.0.12
nav2_system_tests	1.0.12
nav2_theta_star_planner	1.0.12
nav2_util	1.0.12
nav2_voxel_grid	1.0.12
nav2_waypoint_follower	1.0.12
navigation2	1.0.12
teb_local_planner	0.9.1
teb_msgs	0.0.1
octomap	1.9.8
ig_lio_c	0.0.0
ig_lio_c_msgs	2.0.0

README

ROS2版本iG-LIO

本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测

集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案注：目前适配倒置安装方案，其他安装方案请注意修改参数

工作基于
https://github.com/liangheming/iG-LIO_SAM_LC
https://github.com/KTH-RPL/DynamicMap_Benchmark
https://github.com/CCNYRoboticsLab/imu_tools
https://github.com/ros-planning/navigation2
https://github.com/rst-tu-dortmund/teb_local_planner
https://github.com/ANYbotics/grid_map

环境

软件	安装	版本
Eigen3	apt安装	3.3.7
ROS2	apt安装	galactic
Ceres	编译安装	2.1.0
Sophus	编译安装	1.22.10
gtsam	编译安装	4.20
fmt	任意	latest
yaml-cpp	编译安装	fit system
Glog / gflag	任意	latest
Livox-SDK2	编译安装	https://github.com/Livox-SDK/Livox-SDK2
livox_ros_driver2	编译安装	https://github.com/Livox-SDK/livox_ros_driver2
TBB	apt安装	2020.1-2

配置文件

ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml

src/ig_lio_c/config/config_fg.yaml

src/ig_lio_c/config/parameters.yaml

命令

增加UDP缓冲区

sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216

建图与定位

ros2 launch ig_lio_c map_mapping_launch.py

导航与规划

ros2 launch nav2_bringup base_robot_launch.py

保存pcd地图

ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"

使用保存的pcd地图转换占据地图

ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"

ig_lio_slam repository

ROS Distrogithub

Repository Summary

Packages

README

ROS2版本iG-LIO

环境

配置文件

命令

效果图

CONTRIBUTING

ig_lio_slam repository

ROS Distrogithub

Repository Summary

Packages

README

ROS2版本iG-LIO

环境

配置文件

命令

效果图

CONTRIBUTING

ig_lio_slam repository

ROS Distrogithub

Repository Summary

Packages

README

ROS2版本iG-LIO

环境

配置文件

命令

效果图

CONTRIBUTING

ig_lio_slam repository

ROS Distrogithub

Repository Summary

Packages

README

ROS2版本iG-LIO

环境

配置文件

命令

效果图

CONTRIBUTING

ig_lio_slam repository

ROS Distrogithub

Repository Summary

Packages

README

ROS2版本iG-LIO

环境

配置文件

命令

效果图

CONTRIBUTING

ig_lio_slam repository

ROS Distrogithub

Repository Summary

Packages

README

ROS2版本iG-LIO

环境

配置文件

命令

效果图

CONTRIBUTING

ig_lio_slam repository

ROS Distrogithub

Repository Summary

Packages

README

ROS2版本iG-LIO

环境

配置文件

命令

效果图

CONTRIBUTING

ig_lio_slam repository

ROS Distrogithub

Repository Summary

ROS Distro
github

ROS Distro
github

ROS Distro
github

ROS Distro
github

ROS Distro
github

ROS Distro
github

ROS Distro
github

ROS Distro
github

ROS Distro
github