lidarslam_ros2

ros2 slam package of the frontend using OpenMP-boosted gicp/ndt scan matching and the backend using graph-based slam.

mobile robot mapping

Green: path with loopclosure
(the 25x25 grids in size of 10m × 10m)

Red and yellow: map

summary

lidarslam_ros2 is a ROS2 package of the frontend using OpenMP-boosted gicp/ndt scan matching and the backend using graph-based slam.
I found that even a four-core laptop with 16GB of memory could work in outdoor environments for several kilometers with only 16 line LiDAR.
(WIP)

requirement to build

You need ndt_omp_ros2 for scan-matcher

clone (If you forget to add the –recursive option when you do a git clone, run git submodule update --init --recursive in the lidarslam_ros2 directory)

cd ~/ros2_ws/src
git clone --recursive https://github.com/rsasaki0109/lidarslam_ros2
cd ..
rosdep install --from-paths src --ignore-src -r -y

build

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

io

frontend(scan-matcher)

• input
  /input_cloud (sensor_msgs/PointCloud2)
  /tf(from “base_link” to LiDAR’s frame)
  /initial_pose (geometry_msgs/PoseStamed)(optional)
  /imu (sensor_msgs/Imu)(optional)
  /tf(from “odom” to “base_link”)(Odometry)(optional)

• output
  /current_pose (geometry_msgs/PoseStamped)
  /map (sensor_msgs/PointCloud2)
  /path (nav_msgs/Path)
  /tf(from “map” to “base_link”)
  /map_array(lidarslam_msgs/MapArray)

backend(graph-based-slam)

• input
  /map_array(lidarslam_msgs/MapArray)

• output
  /modified_path (nav_msgs/Path)
  /modified_map (sensor_msgs/PointCloud2)

• srv
  /map_save (std_srvs/Empty)　　

how to save the map

pose_graph.g2o and map.pcd are saved in loop closing or using the following service call.

ros2 service call /map_save std_srvs/Empty

params

• frontend(scan-matcher)

File truncated at 100 lines see the full file