SlideSLAM

[!NOTE]

Looking for ROS2 support?

This master branch is the ROS1 Noetic (Ubuntu 20.04) version of SlideSLAM — the version used to produce the results in our paper and the most battle-tested setup.

An experimental ROS2 Jazzy Jalisco (Ubuntu 24.04) port lives on the ros2_dev branch. It has not been as extensively tested as this master branch, but is provided to help developers who want to use SlideSLAM with ROS2.

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).

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