xiaojake / livox_mapping Goto Github PK

Livox_mapping is a mapping package for Livox LiDARs. The package currently contains the basic functions of low-speed mapping.

Some key issues:

1. Support multiple livox lidar;
2. Different feature extraction;
3. Remove odometry for small FOV situation;

In the development of our package, we reference to LOAM, LOAM_NOTED.

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

Follow PCL Installation. Follow Eigen Installation. Follow openCV Installation.

Follow livox_ros_driver Installation.

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/Livox-SDK/livox_mapping.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

Remarks:

• If you want to save the pcd file please add map_file_path in launch file.

Connect to your PC to Livox LiDAR (mid40) by following Livox-ros-driver installation, then

    ....
    roslaunch livox_mapping mapping_mid.launch
    roslaunch livox_ros_driver livox_lidar.launch
    

Connect to your PC to Livox LiDAR (Horizon) by following Livox-ros-driver installation, then

    ....
    roslaunch livox_mapping mapping_horizon.launch
    roslaunch livox_ros_driver livox_lidar_msg.launch
    

Download mid40_hall_example or mid40_outdoor and then

roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag

Download mid100_example and then

roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag

Download horizon_parking or horizon_outdoor and then

roslaunch livox_mapping mapping_horizon.launch
rosbag play YOUR_DOWNLOADED.bag

Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), LOAM_NOTED.