LOG-LIO2 converter to HDMapping

Hint

Please change branch to Bunker-DVI-Dataset-reg-1 or kitti for quick experiment.

Intended use

This small toolset allows to integrate SLAM solution provided by LOG-LIO2 with HDMapping. This repository contains ROS 1 workspace that :

• submodule to tested revision of LOG-LIO2
• a converter that listens to topics advertised from odometry node and save data in format compatible with HDMapping.

Dependencies

sudo apt install -y nlohmann-json3-dev

Building

Clone the repo

mkdir -p /test_ws/src
cd /test_ws/src
git clone https://github.com/MapsHD/benchmark-LOG-LIO2-to-HDMapping.git --recursive
cd ..
catkin_make

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /cloud_registered /Odometry

and start odometry:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch log_lio mapping_mid360.launch     # or mapping_kitti.launch
rosbag play *.bag --clock

Usage - conversion:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
rosrun log-lio2-to-hdmapping listener <recorded_bag> <output_dir>

Record the bag file:

rosbag record /cloud_registered /Odometry

LOG-LIO2 Launch:

cd /test_ws/
source ./install/setup.sh # adjust to used shell
roslaunch log_lio mapping_mid360.launch     # or mapping_kitti.launch

During the record (if you want to stop recording earlier) / after finishing the bag:

In the terminal where the ros record is, interrupt the recording by CTRL+C
Do it also in ros launch terminal by CTRL+C.

Usage - Conversion (ROS bag to HDMapping, after recording stops):

cd /test_ws/
source ./install/setup.sh # adjust to used shell
rosrun log-lio2-to-hdmapping listener <recorded_bag> <output_dir>