Skip to content

FAST_LIO_SLAM#

什么是 FAST_LIO_SLAM？#

  • FAST_LIO_SLAM 是 FAST_LIO 和 SC-PGO 的集成,即基于扫描上下文的环路检测和基于 GTSAM 的姿势图优化.

存储库信息#

https://github.com/gisbi-kim/FAST_LIO_SLAM

必需的传感器#

  • LIDAR [Livox, Velodyne, Ouster]
  • IMU [6-AXIS, 9-AXIS]
  • GPS [OPTIONAL]

ROS 兼容性#

  • ROS 1

依赖#

  • ROS
  • PCL
  • GTSAM
wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install

构建并运行#

1) 构建#

    mkdir -p ~/catkin_fastlio_slam/src
    cd ~/catkin_fastlio_slam/src
    git clone https://github.com/gisbi-kim/FAST_LIO_SLAM.git
    git clone https://github.com/Livox-SDK/livox_ros_driver
    cd ..
    catkin_make
    source devel/setup.bash

2) 设置参数#

  • 在 Fast_LIO/config/ouster64.yaml 上设置 imu 和 lidar 主题

3) 运行#

    # terminal 1: run FAST-LIO2
    roslaunch fast_lio mapping_ouster64.launch

    # open the other terminal tab: run SC-PGO
    cd ~/catkin_fastlio_slam
    source devel/setup.bash
    roslaunch aloam_velodyne fastlio_ouster64.launch

    # play bag file in the other terminal
    rosbag play xxx.bag -- clock --pause

示例结果#

其他示例#

确认#