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Welcome to the simple_ndt wiki! simple + multiple

This package's goal is to let everyone use the slam package which means it should be running at any equipments which can have ROS on it.

The package usage:

• Localization, Mapping [simple-ndt]
• Back-end process which means it won't run in run time when simple_ndt running.
  • Dynamics points remove, Kin's fork for directly on this package also: Kin-Zhang/ERASOR from LimHyungTae/ERASOR
  • Loop closure, use Ceres solver, origin from KTH OBLAM course assignment Kin-Zhang/oblam_pgo

CHANGE LOG:

• 2022/12/2: For more people to use this package, Change README to English version. Here is a chinese readme before
• 2022/10/19: Update: download test Kitti dataset bag: onedrive link: kitti_sequence11_half.bag and follow building steps, modify the bag path in ndt_mapping_kitti.launch and roslaunch it.

Install

mkdir -p ~/workspace/mapping_ws/src
cd ~/workspace/mapping_ws/src
# please remember to --recurse-submodules !!!!
git clone --recurse-submodules https://github.com/Kin-Zhang/simple_ndt_slam

Dependencies

glog, gflag quickly install:

cd simple_ndt_slam
sudo chmod +x ./assets/scripts/setup_lib.sh
sudo ./assets/scripts/setup_lib.sh

RUN

after modified the topic name and bag path if you are running a bag.

cd ~/workspace/mapping_ws
catkin build -DCMAKE_BUILD_TYPE=Release
source devel/setup.zsh # or source devel/setup.bash
roslaunch lidar_localizer ndt_mapping.launch

SAVE MAP

# open another terminal
source devel/setup.zsh # or source devel/setup.bash
rosservice call /save_map '/home/kin/bags/autoware/cones_people.pcd' 0.0
rosservice call /save_map '/home/kin/ri_dog.pcd' 0.2 # save around 20cm filter voxel

Demo Effects

Effects shown here [**remember modify the topic name on config**]

Simple_ndt_slam:

simple_ndt.mp4

Simple_ndt_slam data to ERASOR:

srecord-2022-12-02_21.11.mp4

Simple_ndt_slam data to loop closure:

TODO