LIO_SAM_6AXIS is an open-source SLAM project based on the project LIO_SAM that has been modified to support a wider range of sensors. It includes support for a 6-axis IMU and low-cost GNSS, making it easier to adapt for your own sensor setup.
LIO_SAM_6AXIS includes the following features:
- Support for a 6-axis IMU: This allows you to use orientation information in state estimation, improving the accuracy of your results.
- Support for low-cost GNSS: By eliminating the need to adapt for the robot_localization node, this feature makes it easier to integrate GNSS into your SLAM system.
- GPS constraint visualization: This feature helps with debugging by allowing you to visualize the GPS constraints that are being used in the optimization.
- Compatible with a range of lidars: LIO_SAM_6AXIS can be adapted to work with a range of lidars, including popular models like the VLP-16 ，Pandar32 and Ouster OS-1.
- Easy to adapt: With minor changes to the original code, LIO_SAM_6AXIS can be adapted to work with your own sensors and lidars.
To get started with LIO_SAM_6AXIS, follow these steps:
- Clone the repository:
git clone https://github.com/JokerJohn/LIO_SAM_6AXIS.git- Install the dependencies:
cd LIO_SAM_6AXIS
catkin build- Launch the roslaunch file for your sensor setup:
roslaunch lio_sam_6axis run.launchFor more information on how to use LIO_SAM_6AXIS, see the video tutorial and documentation.
- finally, save your point cloud map.
rosservice call /lio_sam_6axis/save_map
- for docker support.
Dockerfile is for people who don't want to break their own environment.
# please cd the folder which have Dockerfile first, approximately 10mins based on your internet and CPU
docker build -t zhangkin/lio_sam_6axis .
docker run -it --net=host --gpus all --name lio_sam_6axis zhangkin/lio_sam_6axis /bin/zsh
# OR -v to link the folder from your computer into container (your_computer_loc:container_loc)
docker run -it --net=host --gpus all --name lio_sam_6axis -v /home/kin/bag_data:/home/xchu/data/ramlab_dataset zhangkin/lio_sam_6axis /bin/zsh
# in the container
catkin build
source devel/setup.zsh
# with dataset download and linked ==> please see more usage in previous section
roslaunch lio_sam_6axis ouster128_indoors.launch
# 对于在内地的同学，可以换源`dockerhub`后，直接拉取：
docker pull zhangkin/lio_sam_6axisThe documentation for LIO_SAM_6AXIS can be found in the doc directory of the repository. It includes instructions on how to adapt the code for your own sensors and lidars.
Here are the latest updates to LIO_SAM_6AXIS:
- Fix some bugs in GNSS odometry: If the GNSS has enough translation (larger than 0.1m) in a short time, we publish an absolute yaw angle as a reference.
- Improve LIO-GPS initialization: If the GNSS trajectory has been aligned well with the LIO trajectory, we refine the LLA coordinate of the origin point of the map.
- Add tf messages in
result.bagso that you can use the result.bag to generate the demo shown above. - Add
rviz_satellateplugins, which can show your point cloud on Google Maps. - Update map origin point automatically during optimization.
LIO_SAM_6AXIS is compatible with a range of datasets and sensor setups. To help you get started, we have included a table that lists some of the datasets and sensors that have been tested with LIO_SAM_6AXIS.
| Dataset | Description | Sensors | Download Links | Ground Truth | Comments |
|---|---|---|---|---|---|
| hkust_20201105full |  |
VLP-16, STIM300 IMU, left camera, normal GPS | Dropbox, BaiduNetdisk (password: m8g4) | GT | About 10 km outdoor, see this doc |
| HILTI DATASET |  |
Hesai32 lidar, low-cost IMU, 5 Fisher Eye cameras | Download | The config/params_pandar.yaml is prepared for the HILTI sensors kit | |
| garden_day |  |
Ouster OS1-128, STIM300 IMU, stereo camera | Download | GT | Indoors. When you download this compressed data, remember to execute the following command: rosbag decompress 20220216_garden_day_ref_compressed.bag |
- LIO_SAM 6轴IMU适配香港城市数据集UrbanNav，并给出添加GPS约束和不加GPS约束的结果
- integrate LIO-SAM and Imaging_lidar_place_recognition to achieve better mapping and localization result for SLAM system.
If you would like to contribute to LIO_SAM_6AXIS, please read the CONTRIBUTING.md file for guidelines.
LIO_SAM_6AXIS is released under the MIT license.
We would like to thank TixiaoShan for creating the LIO_SAM project that served as the foundation for this work.
We would like to express our gratitude to the following individuals for their contributions to this project:
- Guoqing Zhang for his help with testing and troubleshooting.
- Jianhao Jiao and Jin Wu for his assistance in developing the GPS constraint visualization module.
- Qingwen Zhang for his support with docker support.
We also extend our appreciation to the developers of the LIO_SAM algorithm for providing a solid foundation for our work.
Finally, we would like to thank the open-source community for their contributions to the development and improvement of SLAM technologies, which have made this project possible.