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fastlio2_sam_lc's Introduction

FASTLIO_SAM_LC

主要工作

  1. 对原始FASTLIO进行代码重构
  2. 建图线程添加GTSAM做回环
  3. 添加定位线程用于基于已知地图的重定位
  4. 添加首帧重力对齐(用于传感器非水平放置情况)
  5. 目前暂时支持MID_360的传感器(买不起其他传感器)
  6. 代码结构更加简单，流程逻辑也更加清晰(非常自以为是的评价)

环境说明

ubuntu20.04
ros noetic
pcl 1.10

编译依赖

  1. livox_ros_driver2
  2. gtsam (noetic版本 可以使用 sudo apt install ros-noetic-gtsam 直接安装，其他版本可能需要独立安装)
  3. pcl

启动脚本

  1. 建图线程
roslaunch fastlio mapping.launch
  1. 定位线程
roslaunch fastlio localize.launch

服务脚本

  1. 保存地图
rosservice call /save_map "save_path: 'you_pcd_save_path.pcd'
resolution: 0.0"

目前resolution没用(需要降采样，可离线自行降采样)

  1. 重定位
rosservice call /slam_reloc "{pcd_path: 'you_pcd_path.pcd', x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}"

特别感谢

  1. FASTLIO2
  2. FASTLIO-SAM
  3. FASTLIO-LC

fastlio2_sam_lc's People

Contributors

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Stargazers

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Watchers

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Forkers

weixiaopassking forrest-z yil-wang kevinladlee aurum205

fastlio2_sam_lc's Issues

map_builder_node-2] process has died...unable to run my data

My system is ROS noetic Ubuntu 20.04. GTSAM, pcl and livox driver2 have been installed. When running the launch file, it happens like this below.
Screenshot_20240131_222300

And my data is from mid360 as shown below.
Screenshot_20240131_222717
When I started the rosbag play, nothing happened with the fastlio. Please help look at these.

same problem with map_builder_node died when running it!

Thank you for your outstanding work on this project! I have made some minor modifications to ensure compatibility with my Velodyne LiDAR data. Initially, everything functioned smoothly with the map_builder_node.

However, after approximately 500 seconds of successful operation, the system encountered an error as detailed below:

[ INFO] [1707027359.609541985]: Detected LOOP: 233 254 0.005147
[ INFO] [1707027360.615031362]: Detected LOOP: 235 255 0.005709
[map_builder_node-1] process has died [pid 3158031, exit code -11, cmd /home/nhy/siqi/pv_ws/devel/lib/fastlio/map_builder_node __name:=map_builder_node __log:=/home/nhy/.ros/log/c80b10fa-c304-11ee-826f-2b313487e033/map_builder_node-1.log].
log file: /home/nhy/.ros/log/c80b10fa-c304-11ee-826f-2b313487e033/map_builder_node-1.log*

The error message you're seeing, where the map_builder_node process has died with exit code -11, indicates a segmentation fault.
may there be too many loop detection???

i have tried several times and it died in the same rosbag time point!
can you help me with this problem!
Best regards!!!

Unable to find corresponding header file

Thank you for the author's work. During compilation, I was prompted that I could not find # include "fastlio/SaveMap. h" ,
I can't find the dependency package fastlio.

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