This folder contains all the codes and function packages used in the student thesis project. This project studies the application of LIO-SAM algorithm on Livox-Mid-360 radar and Mir600 mobile robot platform. The experiment is carried out in the simulation software Gazebo. Using the evo tool library, the positioning accuracy of LIO-SAM and AMCL algorithms is compared.
Author: Xinwei Fu
E-Mail: xinwei.fu@stud.uni-hannover.de
Implements the LIO-SAM algorithm specifically adapted for the Livox MID360 LiDAR.
Official Livox package for simulating Livox LiDAR sensors in ROS.
Official Livox ROS driver for connecting and interfacing Livox LiDAR sensors.
Containing simulation files of robot platform and map.
Create a catkin_ws/src folder in your home directory and move all files from the current page into the src folder.
Run the setup.sh script to install and build the packages. The script will do the following steps automatically:
Temporarily move LIO-SAM-MID360, livox_laser_simulation, and livox_ros_driver out of the current workspace. Use the setup_full.sh script in the match_mobile_robotics folder to install all dependencies and build the package.
Move LIO-SAM-MID360, livox_laser_simulation, and livox_ros_driver back into the src directory of your workspace. Install the necessary dependencies and build everything.
Start LIO-SAM localization with mir600 robot
roslaunch lio_sam run6axis.launchStart the RQT tool to manually control the robot
rosrun rqt_robot_steering rqt_robot_steering