FLOAM - SSL
Fast LOAM (Lidar Odometry And Mapping) for solid state lidar (Intel Realsense L515 as an example)
This code is modified from FLOAM
Modifier: Wang Han, Nanyang Technological University, Singapore
Running speed: 20 Hz on Intel NUC, 30 Hz on PC
1. Solid-State Lidar Sensor Example
1.1 Scene reconstruction
1.2 SFM building example
1.3 Localization and Mapping with L515
2. Prerequisites
2.1 Ubuntu and ROS
Ubuntu 64-bit 18.04.
ROS Melodic. ROS Installation
2.2. Ceres Solver
Follow Ceres Installation.
2.3. PCL
Follow PCL Installation.
2.4. Trajectory visualization
For visualization purpose, this package uses hector trajectory sever, you may install the package by
sudo apt-get install ros-melodic-hector-trajectory-server
Alternatively, you may remove the hector trajectory server node if trajectory visualization is not needed
3. Build
3.1 Clone repository:
cd ~/catkin_ws/src
git clone https://github.com/wh200720041/floam_ssl.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
3.2 Download test rosbag
You may download our recorded data if you dont have realsense L515, and by defult the file should be under home/user/Downloads
3.3 Launch ROS
if you would like to create the map at the same time, you can run
roslaunch floam floam_ssl_mapping.launch
if only localization is required, you may refer to run
roslaunch floam_ssl floam_ssl.launch
4. Sensor Setup
If you have new Realsense L515 sensor, you may follow the below setup instructions
4.1 L515
4.2 Librealsense
Follow Librealsense Installation
4.3 Realsense_ros
Copy realsense_ros package to your catkin folder
cd ~/catkin_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git
cd ..
catkin_make
4.4 Change parameter for L515
Change the parameter setting for L515
sudo gedit ~/catkin_ws/src/realsense-ros/realsense2_camera/launch/rs_camera.launch
search for the below argument and change default setting to below setting
<arg name="color_width" default="1280"/>
<arg name="color_height" default="720"/>
<arg name="filters" default="pointcloud"/>
4.5 Launch ROS
roslaunch floam floam_ssl_L515.launch