GLO - General LiDAR-only Odometry

Compile

Dependency

• ubuntu20.04 + ROS noetic
• Eigen
• ceres
• PCL
• yaml-cpp

    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag. 

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag. 

please ensure the topic in rosbag is same with in config file.

Developers

YunSu