SLAM-application: installation and test

• (3D): LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, and Faster-LIO
  • Tested on Quadruped robot in Gazebo
  • Tested with real-world data in E3-2 building of KAIST

● Results:

● video: Lego-LOAM vs LIO-SAM vs LVI-SAM

● video2: LIO-SAM vs LVI-SAM

● video3: LIO-SAM vs FAST-LIO2

● video4: FAST-LIO2 vs Livox-mapping vs LOAM-Livox using Livox Mid-70 LiDAR, real-world

● video5: FAST-LIO2 in the building with narrow stairs using Ouster OS0-128, real-world

● video6: FAST-LIO2 in the narrow tunnels using Ouster OS0-128 on the UAV (drone)

● video7: Faster-LIO vs FAST-LIO in the building with narrow stairs using Ouster OS0-128, real-world

Requirements

• Dependencies

$ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher

• GTSAM for LVI-SAM and LIO-SAM

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

• Ceres solver only for LVI-SAM

$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
$ tar zxf ceres-solver-1.14.0.tar.gz
$ mkdir ceres-bin
$ mkdir solver && cd ceres-bin
$ cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver"  #good for build without being root privileged and at wanted directory
$ make -j8 # 8 : number of cores
$ make test
$ make install

• glog, g++-9 and gcc-9 for Faster-LIO

$ sudo apt-get install libgoogle-glog-dev
$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt update
$ sudo apt install gcc-9 g++-9
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9

Installation

● LeGO-LOAM

$ cd ~/your_workspace/src
$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
$ cd ..
$ catkin build

● LIO-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LIO-SAM.git
$ cd ..
$ catkin build

● LVI-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LVI-SAM.git
$ cd ..
$ catkin build

● Trouble shooting for LVI-SAM

• for OpenCV 4.X, edit LVI-SAM/src/visual_odometry/visual_loop/ThirdParty/DVision/BRIEF.cpp:53

// cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);

● FAST-LIO2

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/FAST_LIO.git
$ cd ..
$ catkin build

● Faster-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio
$ cd faster-lio/thirdparty
$ tar -xvf tbb2018_20170726oss_lin.tgz
$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss

How to run in Gazebo

● check each of config files in the folders: LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, and Faster-LIO

Trouble shooting for Gazebo Velodyne plugin

• When using CPU ray, instead of GPU ray, height - width should be interchanged, I used this script file