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.

Tested with 1.8.1

2.4 OctoMap

Follow OctoMap Installation.

$ sudo apt install ros-melodic-octomap*

2.5. 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

or create probability map

    roslaunch floam floam_ssl_octo_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