A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method
Quatro
as a module, can be easily used in other packagesQuatro
in localization. Quatro
can be worked in scan-to-scan matching or submap-to-submap matching but not scan-to-submap, i.e., the numbers of pointclouds to be matched should be similar.
.bag
format. This .bag
files can be built with FAST-LIO-SAM-QN and FAST-LIO-SAM
C++
>= 17, OpenMP
>= 4.5, CMake
>= 3.10.0, Eigen
>= 3.2, Boost
>= 1.54ROS
Teaser++
git clone https://github.com/MIT-SPARK/TEASER-plusplus.git
cd TEASER-plusplus && mkdir build && cd build
cmake .. -DENABLE_DIAGNOSTIC_PRINT=OFF
sudo make install -j16
sudo ldconfig
tbb
(is used for faster Quatro
)
sudo apt install libtbb-dev
cd ~/your_workspace/src
git clone https://github.com/engcang/FAST-LIO-Localization-QN --recursive
cd ~/your_workspace
# nano_gicp, quatro first
catkin build nano_gicp -DCMAKE_BUILD_TYPE=Release
# Note the option!
catkin build quatro -DCMAKE_BUILD_TYPE=Release -DQUATRO_TBB=ON
catkin build -DCMAKE_BUILD_TYPE=Release
. devel/setup.bash
roslaunch fast_lio_localization_qn run.launch lidar:=ouster
roslaunch fast_lio_localization_qn run.launch lidar:=velodyne
roslaunch fast_lio_localization_qn run.launch lidar:=livox
FAST_LIO
/configQuatro
module fixed for empty matchesQuatro
module is updated with optimizedMatching
which limits the number of correspondences and increased the speed