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SLAM

系统环境：

  • Ubuntu18.04.5 LTS x86_64
  • Kernel: 5.4.0-80-generic
  • ROS melodic 1.14.11

硬件：

  • NUC8 i7-8650U & NUC10 i7-10710U
  • 镭神激光雷达 C16
  • Xsens Mti-300
  • 路由器: AR750S
  • 飞控: PX4

先决条件: ROS + gtsam + lslidar_ws + xsens_ws

Velodyne激光雷达包

阅读文档: Velodyne激光雷达ROS

镭神激光雷达包

阅读文档: lslidar_c16

测试：

roslaunch lslidar_c16_decoder lslidar_c16.launch --screen

需要把 Global Options 中修改为 /laser_link

换用镭神发现NaN问题:

point cloud is not in dense format please remove nan points first

可能的解决方案：

https://www.gitmemory.com/issue/TixiaoShan/LIO-SAM/175/750888945
https://zhuanlan.zhihu.com/p/326400722

基本要求加removeNaNFromPointCloud 这个方法
但是在lio-sam的imageProjection.cpp中加上编译不通过。

#include <pcl/filters/filter.h>
std::vector<int> indices;
pcl::removeNaNFromPointCloud(*outPoints, *outPoints, indices);

LIO-SAM包安装

来源: https://github.com/TixiaoShan/LIO-SAM

已经提供安装脚本 LIO-SAM_ws-install.sh
gtsam + LIO-SAM_ws

gstam安装

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.2/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j8

LIO-SAM 工作空间安装

mkdir -p ~/LIO-SAM_ws/src && cd ~/LIO-SAM_ws/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ~/LIO-SAM_ws
catkin_make
source devel/setup.bash
echo "source ~/LIO-SAM_ws/devel/setup.bash" >> ~/.bashrc

测试：

roslaunch lio_sam run.launch

错误： lio_sam_imuPreintegration

解决方案: https://githubmemory.com/repo/TixiaoShan/LIO-SAM/issues/247

sudo cp /usr/local/lib/libmetis.so /opt/ros/melodic/lib #纯手敲，建议自行tab补全

PS: 这个地方贼迷惑，编译要/usr，跑起来要/opt

IMU 可视化 测试工具

https://github.com/ccny-ros-pkg/imu_tools

mkdir -p ~/imu_tools_ws/src && cd ~/imu_tools_ws/src
git clone https://github.com/ccny-ros-pkg/imu_tools.git
cd ..
##编译前 注释 PLUGINLIB_DECLARE_CLASS
catkin_make
source devel/setup.bash
echo "source ~/imu_tools_ws/devel/setup.bash" >> ~/.bashrc

记录config

config.yaml

BLOG: 32线镭神雷达跑LeGO-LOAM：3D 激光SLAM