SLAM Application Save

LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, Point-LIO, KISS-ICP, DLO, DLIO, Ada-LIO, PV-LIO, SLAMesh, ImMesh, FAST-LIO-MULTI application and comparison on Gazebo and real-world datasets. Installation and config files are provided.

Project README

SLAM-application: installation and test

3D, single-LiDAR: LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, DLO, PV-LIO, SLAMesh, and ImMesh
3D, multi-LiDARs: FAST-LIO-MULTI

● Results:

Single-LiDAR

video: Lego-LOAM vs LIO-SAM vs LVI-SAM
video2: LIO-SAM vs LVI-SAM
video3: LIO-SAM vs FAST-LIO2
video4: FAST-LIO2 vs Livox-mapping vs LOAM-Livox using Livox Mid-70 LiDAR, real-world
video5: FAST-LIO2 in the building with narrow stairs using Ouster OS0-128, real-world
video6: FAST-LIO2 in the narrow tunnels using Ouster OS0-128 on the UAV (drone)
video7: Faster-LIO vs FAST-LIO in the building with narrow stairs using Ouster OS0-128, real-world
video8: VoxelMap in the building using Intel Realsense L515, real-world
video9: R3LIVE in the building and around the building using Livox Mid-70 LiDAR, FLIR Blackfly S, Pixhawk4 mini, real-world
video10: FAST-LIO2 vs Ada-LIO vs Point-LIO vs KISS-ICP in the building with narrow stairs, real-world
video11: FAST-LIO2 vs Ada-LIO in Gazebo challenging environments
video12: DLO vs FAST-LIO2
video13: DLO vs DLIO vs Ada-LIO vs FAST-LIO2
video15: Ada-LIO vs PV-LIO vs SLAMesh
video16: Ada-LIO vs PV-LIO
video17: Ada-LIO vs ImMesh

Multi-LiDARs

video14: FAST-LIO-MULTI bundle update vs asynchronous update

Dependencies

Common packages

$ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher

GTSAM for LVI-SAM and LIO-SAM

$ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
$ unzip gtsam.zip
$ cd gtsam-4.0.2/
$ mkdir build && cd build
$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
$ sudo make install -j8

Ceres solver for LVI-SAM and SLAMesh

$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz #LVI-SAM
$ wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz #SLAMesh
$ tar zxf ceres-solver-1.14.0.tar.gz #LVI-SAM
$ tar zxf ceres-solver-2.1.0.tar.gz #SLAMesh
$ mkdir ceres-bin
$ mkdir solver && cd ceres-bin
$ cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver"  #good for build without being root privileged and at wanted directory
$ make -j8 # 8 : number of cores
$ make test
$ make install

glog, g++-9 and gcc-9 for Faster-LIO

$ sudo apt-get install libgoogle-glog-dev
$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt update
$ sudo apt install gcc-9 g++-9
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9

Note: When `Ouster-ros` package cannot be built with `gcc` and `g++` with the version higher than 6,

When building ouster-ros,

catkin b -DCMAKE_C_COMPILER=gcc-6 -DCMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release

CGAL and pcl-tools for R3LIVE

$ sudo apt install libcgal-dev pcl-tools

Optionally,
$ sudo apt install meshlab

Installation

● LeGO-LOAM

$ cd ~/your_workspace/src
$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● LIO-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LIO-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● LVI-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LVI-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for LVI-SAM

for OpenCV 4.X, edit LVI-SAM/src/visual_odometry/visual_loop/ThirdParty/DVision/BRIEF.cpp:53

// cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);

● FAST-LIO2

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/FAST_LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Faster-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ tar -xvf tbb2018_20170726oss_lin.tgz

$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss -DCMAKE_BUILD_TYPE=Release

● Faster-LIO on `ARM` architecture (e.g., Jetson Xavier)

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ git clone https://github.com/syoyo/tbb-aarch64
$ cd tbb-aarch64
$ ./scripts/bootstrap-aarch64-linux.sh
$ cd build-aarch64
$ make && make install

$ gedit faster-lio/cmake/packages.cmake

Edit line 13 as:
    #set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib/intel64/gcc4.7")
    set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib")


$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb-aarch64/dist -DCMAKE_BUILD_TYPE=Release

● VoxelMap

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ git clone https://github.com/hku-mars/VoxelMap.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for VoxelMap

/usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ ...
- You could meet this error in ROS-melodic. Fix as here

$ sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
$ sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

$ sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
$ sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

● R3LIVE

$ cd ~/your_workspace/src
$ git clone https://github.com/hku-mars/r3live.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for R3LIVE

LiDAR incoming frame too old ...

Original Livox-ros-driver does not publish the data with ROS timestamp, but LiDAR time.
So, use modified livox-ros-driver here
If that does not solve the problem, edit lddc.cpp yourself, line 563:

//livox_msg.header.stamp = ros::Time((timestamp - init_lidar_tim - packet_offset_time )  / 1e9 + init_ros_time);
  livox_msg.header.stamp = ros::Time::now();
  /**************** Modified for R2LIVE **********************/
  ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);
  if (kOutputToRos == output_type_)
  {
    p_publisher->publish(livox_msg);
  }

● How to properly set configuration for R3LIVE

Camera calibration - use Kalibr or camera_calibration
- Kalibr - refer original repo
- camera_calibration - use as here
Lidar-Camera calibration
- Other spinning LiDARs are not supported yet (for RGB mapping), but try to use lidar_camera_calibration repo, if you want to.
- For LiVOX LiDAR, use livox_camera_calib repo
  - Record a bag file of LiVOX LiDAR data and capture the image from RGB camera you use.
  - Convert a bag file into a PCD file with (change directories in the launch file):
```
$ roslaunch livox_camera_calib bag_to_pcd.launch
```
  - Then, calibrate LiDAR and camera as (change directories in the launch and config files):
```
$ roslaunch livox_camera_calib calib.launch
```

★Note: extrinsic rotational parameter from `livox_camera_calib` should be transposed in the `r3live_config.yaml` file. Refer my extrinsic result and r3live config file

Left: Target image. Right: Target PCD

Left: calibrated image and residuals. Right: calibrated image

Sensor configuration of mine: Pixhawk4 mini as an IMU, FLIR Blackfly S USB3 (BFS-U3-23S3C-C), LiVOX MID-70

● Point-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/Point-LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● KISS-ICP (ROS1)

$ cd ~/your_workspace/src
$ git clone https://github.com/PRBonn/kiss-icp.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● DLO

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● DLIO

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● FAST-LIO-MULTI

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/engcang/FAST_LIO_MULTI
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● PV-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/HViktorTsoi/PV-LIO
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● SLAMesh

$ sudo apt-get install build-essential cmake cmake-curses-gui libflann-dev libgsl-dev libeigen3-dev libopenmpi-dev \
     openmpi-bin opencl-c-headers ocl-icd-opencl-dev libboost-all-dev libopencv-dev libyaml-cpp-dev \
     freeglut3-dev libhdf5-dev qtbase5-dev qt5-default libqt5opengl5-dev liblz4-dev

# Ubuntu 18.04
$ sudo apt-get install libvtk6-dev libvtk6-qt-dev
# Ubuntu 20.04
$ sudo apt-get install libvtk7-dev libvtk7-qt-dev

$ git clone https://github.com/uos/lvr2.git
$ cd lvr2 
$ mkdir build && cd build
$ cmake .. && make
$ sudo make install

$ cd ~/your_workspace/src
$ git clone https://github.com/naturerobots/mesh_tools.git
$ git clone https://github.com/RuanJY/SLAMesh.git
$ cd..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for SLAMesh

With Ceres >= 2.0 version and OpenCV 4.X version, ceres.solve can occur error
Delete OpenCV dependency in CMakeLists.txt

#target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})
target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})

● ImMesh

$ sudo apt-get install ros-noetic-cv-bridge ros-noetic-tf ros-noetic-message-filters ros-noetic-image-transport*
$ sudo apt-get install -y libcgal-dev pcl-tools libgl-dev libglm-dev libglfw3-dev libglew-dev libglw1-mesa-dev libxkbcommon-x11-dev
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/hku-mars/ImMesh
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for ImMesh

Use Ubuntu >= 20.04. Otherwise, CGAL version issue will bother you.

How to run

● check each of config files and launch files in the folders of this repo

Trouble shooting for `Gazebo Velodyne plugin`

When using CPU ray, instead of GPU ray, height - width should be interchanged, I used this script file

Open Source Agenda is not affiliated with "SLAM Application" Project. README Source: engcang/SLAM-application

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Open Issues

Last Commit

2 months ago

Repository

engcang/SLAM-application

License

BSD-3-Clause

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From the blog

Dec 11, 2022

How to Choose Which Programming Language to Learn First?

From the blog

Dec 11, 2022

SLAM Application Save

SLAM-application: installation and test

● Results:

Single-LiDAR

Multi-LiDARs

Dependencies

Note: When Ouster-ros package cannot be built with gcc and g++ with the version higher than 6,

Installation

● LeGO-LOAM

● LIO-SAM

● LVI-SAM

● Trouble shooting for LVI-SAM

● FAST-LIO2

● Faster-LIO

● Faster-LIO on ARM architecture (e.g., Jetson Xavier)

● VoxelMap

● Trouble shooting for VoxelMap

● R3LIVE

● Trouble shooting for R3LIVE

● How to properly set configuration for R3LIVE

★Note: extrinsic rotational parameter from livox_camera_calib should be transposed in the r3live_config.yaml file. Refer my extrinsic result and r3live config file

● Point-LIO

● KISS-ICP (ROS1)

● DLO

● DLIO

● FAST-LIO-MULTI

● PV-LIO

● SLAMesh

● Trouble shooting for SLAMesh

● ImMesh

● Trouble shooting for ImMesh

How to run

● check each of config files and launch files in the folders of this repo

Trouble shooting for Gazebo Velodyne plugin

Open Source Agenda Badge

From the blog

How to Choose Which Programming Language to Learn First?

From the blog

How to Choose Which Programming Language to Learn First?

Note: When `Ouster-ros` package cannot be built with `gcc` and `g++` with the version higher than 6,

● Faster-LIO on `ARM` architecture (e.g., Jetson Xavier)

★Note: extrinsic rotational parameter from `livox_camera_calib` should be transposed in the `r3live_config.yaml` file. Refer my extrinsic result and r3live config file

Trouble shooting for `Gazebo Velodyne plugin`