A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on ScanContext, Quatro, and Nano-GICP
Quatro
as a module, can be easily used in other packagesC++
>= 17, OpenMP
>= 4.5, CMake
>= 3.10.0, Eigen
>= 3.2, Boost
>= 1.54ROS
GTSAM
>= 4.1.1
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
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-SAM-SC-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
FAST_LIO
)
roslaunch fast_lio_sam_sc_qn run.launch lidar:=ouster
roslaunch fast_lio_sam_sc_qn run.launch lidar:=velodyne
roslaunch fast_lio_sam_sc_qn run.launch lidar:=livox