SlideSLAM

This repository contains the source code for the project SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation.

• More details can be found on the project website.
• Our paper is available on arXiv here.

Table of contents

• SlideSLAM
• Table of contents
• Use docker (recommended)
• Build from source (only if you do not want to use docker)
• Run our demos (with processed data)
  • Download example data
  • What these demos will do
  • Run multi-robot demo (based on LiDAR data)
• Run on raw sensor data (RGBD or LiDAR bags)
  • Download example data
  • Run our RGBD data experiments
  • Run our LiDAR Data experiments
• Troubleshoot
• Acknowledgement
• Citation

Use docker (recommended)

Install docker: https://docs.docker.com/desktop/install/linux/ubuntu/#install-docker-desktop

Pull the docker image:

docker pull xurobotics/slide-slam:latest

Create the workspace (important)

mkdir -p ~/slideslam_docker_ws/src
cd ~/slideslam_docker_ws/src

Creating the workspace outside the docker helps you keep your files and changes within the workspace even if you delete the un-committed docker container.

Clone the repo:

git clone https://github.com/XuRobotics/SLIDE_SLAM.git
cd ~/slideslam_docker_ws/src/SLIDE_SLAM
chmod +x run_slide_slam_docker.sh

(Optional) Only if you need to run on LiDAR data, install Faster-LIO and LiDAR drivers:

cd ~/slideslam_docker_ws/src
git clone git@github.com:ouster-lidar/ouster_example.git && cd ouster_example && git checkout 43107a1 && cd ..
git clone git@github.com:XuRobotics/faster-lio
git clone git@github.com:KumarRobotics/ouster_decoder.git && cd ouster_decoder && git checkout d66b52d  && cd ..

*Find the

``` in 
```ouster_decoder
``` and comment out the last three lines (the 
```ouster_viz
```) to avoid fmt issue*

**Run the docker image**: 

**Important:** Go to `./run_slide_slam_docker.sh`, make sure the following three directories are correct

SlideSlamWs=”/home/sam/slideslam_docker_ws”

should point to your workspace directory

SlideSlamCodeDir=”/home/sam/slideslam_docker_ws/src/SLIDE_SLAM”

should point to your code directory where you cloned the repository

BAGS_DIR=”/home/sam/bags”

should point to your bags (data) directory

Then run:

./run_slide_slam_docker.sh

**Build the workspace**: 

cd /opt/slideslam_docker_ws catkin build -DCMAKE_BUILD_TYPE=Release

**Run the demos**

source /opt/slideslam_docker_ws/devel/setup.bash

Follow the instructions below to run the demos. Remember to commit your changes inside docker envirnoment to keep them (e.g. newly installed pkgs). 

Type `exit` to exit the container.

You can re-enter the container, or enter the container from a new terminal by either 

docker start slideslam_ros && docker exec -it slideslam_ros /bin/bash

or remove your docker container using the command 

docker rm slideslam_ros

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