a SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on LIO-SAM paper
KITTI seq 05 top view - (left): FAST-LIO2 (right): FAST-LIO-SAM
KITTI seq 05 side view - (top): FAST-LIO2 (bottom): FAST-LIO-SAM
KITTI seq 05 trajectories - (blue): FAST-LIO2 (green): FAST-LIO-SAM
Eigen
and PCL
)wget -O gtsam.zip https://github.com/borglab/gtsam/archive/refs/tags/4.1.1.zip
unzip gtsam.zip
cd gtsam-4.1.1/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
sudo make install -j16
cd ~/your_workspace/src
git clone https://github.com/engcang/FAST-LIO-SAM --recursive
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
. devel/setup.bash
FAST_LIO
)
roslaunch fast_lio_sam run.launch lidar:=ouster
roslaunch fast_lio_sam run.launch lidar:=velodyne
roslaunch fast_lio_sam run.launch lidar:=livox