This code is modified from FLOAM
Modifier: Wang Han, Nanyang Technological University, Singapore
Running speed: 20 Hz on Intel NUC, 30 Hz on PC
###1.1 Scene reconstruction
###1.2 SFM building example
###1.3 Localization and Mapping with L515
###2.1 Librealsense Follow Librealsense Installation
###2.2 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
###2.3 Change parameter for L515 Open ~/catkin_ws/src/realsense-ros/realsense2_camera/launch/rs_camera.launch with text editor search for the below argument and change default setting to below setting
Ubuntu 64-bit 18.04.
ROS Melodic. ROS Installation
Follow Ceres Installation.
Follow PCL Installation.
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
cd ~/catkin_ws/src
git clone https://github.com/wh200720041/floam_ssl.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
The rosbag will be provided later
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, pls run
roslaunch floam_ssl floam_ssl.launch