98 lines
3.5 KiB
Markdown
98 lines
3.5 KiB
Markdown
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## Livox_mapping
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Livox_mapping is a mapping package for Livox LiDARs.
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The package currently contains the basic functions of low-speed mapping.
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<div align="center">
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<img src="doc/results/mid40_hall.gif" width = 45% >
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<img src="doc/results/horizon_parking.gif" width = 45% >
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</div>
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Some key issues:
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1. Support multiple livox lidar;
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2. Different feature extraction;
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3. Remove odometry for small FOV situation;
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In the development of our package, we reference to LOAM, LOAM_NOTED.
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## 1. Prerequisites
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### 1.1 **Ubuntu** and **ROS**
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Ubuntu 64-bit 16.04 or 18.04.
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ROS Kinetic or Melodic. [ROS Installation](http://wiki.ros.org/ROS/Installation)
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### 1.2. **PCL && Eigen && openCV**
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Follow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).
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Follow [Eigen Installation](http://eigen.tuxfamily.org/index.php?title=Main_Page).
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Follow [openCV Installation](https://opencv.org/releases/).
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### 1.3. **livox_ros_driver**
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Follow [livox_ros_driver Installation](https://github.com/Livox-SDK/livox_ros_driver).
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## 2. Build
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Clone the repository and catkin_make:
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```
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cd ~/catkin_ws/src
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git clone https://github.com/Livox-SDK/livox_mapping.git
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cd ..
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catkin_make
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source ~/catkin_ws/devel/setup.bash
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```
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*Remarks:*
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- If you want to save the pcd file please add map_file_path in launch file.
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## 3. Directly run
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### 3.1 Livox Mid-40
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Connect to your PC to Livox LiDAR (mid40) by following [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
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```
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....
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roslaunch livox_mapping mapping_mid.launch
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roslaunch livox_ros_driver livox_lidar.launch
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```
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### 3.2 Livox Horizon
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Connect to your PC to Livox LiDAR (Horizon) by following [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
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```
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....
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roslaunch livox_mapping mapping_horizon.launch
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roslaunch livox_ros_driver livox_lidar_msg.launch
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```
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## 4. Rosbag Example
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### 4.1 Livox Mid-40 rosbag
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<div align="center"><img src="doc/results/mid40_hall_01.png" width=90% /></div>
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<div align="center"><img src="doc/results/mid40_outdoor.png" width=90% /></div>
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Download [mid40_hall_example](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_hall_example.bag) or [mid40_outdoor](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_outdoor.bag)
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and then
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```
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roslaunch livox_mapping mapping_mid.launch
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rosbag play YOUR_DOWNLOADED.bag
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```
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### 4.2 Livox Mid-100 rosbag
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<div align="center"><img src="doc/results/mid100_01.png" width=90% /></div>
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<div align="center"><img src="doc/results/mid100_02.png" width=90% /></div>
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Download [mid100_example](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid100_example.bag) and then
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```
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roslaunch livox_mapping mapping_mid.launch
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rosbag play YOUR_DOWNLOADED.bag
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```
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### 4.3 Livox Horizon rosbag
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<div align="center"><img src="doc/results/horizon_outdoor_01.png" width=90% /></div>
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<div align="center"><img src="doc/results/horizon_parking_01.png" width=90% /></div>
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Download [horizon_parking](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/horizon_parking.bag) or [horizon_outdoor](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/horizon_outdoor.bag)
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and then
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```
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roslaunch livox_mapping mapping_horizon.launch
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rosbag play YOUR_DOWNLOADED.bag
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```
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## 5.Acknowledgments
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Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), [LOAM_NOTED](https://github.com/cuitaixiang/LOAM_NOTED).
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