SLAM-application: installation and test

3D, single-LiDAR: LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, DLO, PV-LIO, SLAMesh, and ImMesh
3D, multi-LiDARs: FAST-LIO-MULTI

● Results:

Single-LiDAR

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
video8: VoxelMap in the building using Intel Realsense L515, real-world
video9: R3LIVE in the building and around the building using Livox Mid-70 LiDAR, FLIR Blackfly S, Pixhawk4 mini, real-world
video10: FAST-LIO2 vs Ada-LIO vs Point-LIO vs KISS-ICP in the building with narrow stairs, real-world
video11: FAST-LIO2 vs Ada-LIO in Gazebo challenging environments
video12: DLO vs FAST-LIO2
video13: DLO vs DLIO vs Ada-LIO vs FAST-LIO2
video15: Ada-LIO vs PV-LIO vs SLAMesh
video16: Ada-LIO vs PV-LIO
video17: Ada-LIO vs ImMesh

Multi-LiDARs

video14: FAST-LIO-MULTI bundle update vs asynchronous update

Dependencies

Common packages

$ 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 -DGTSAM_USE_SYSTEM_EIGEN=ON ..
$ sudo make install -j8

Ceres solver for LVI-SAM and SLAMesh

$ 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 #LVI-SAM
$ wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz #SLAMesh
$ tar zxf ceres-solver-1.14.0.tar.gz #LVI-SAM
$ tar zxf ceres-solver-2.1.0.tar.gz #SLAMesh
$ 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

Note: When `Ouster-ros` package cannot be built with `gcc` and `g++` with the version higher than 6,

When building ouster-ros,

catkin b -DCMAKE_C_COMPILER=gcc-6 -DCMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release

CGAL and pcl-tools for R3LIVE

$ sudo apt install libcgal-dev pcl-tools

Optionally,
$ sudo apt install meshlab

Installation

● LeGO-LOAM

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

● LIO-SAM

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

● LVI-SAM

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

● 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 -DCMAKE_BUILD_TYPE=Release

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

● Faster-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ 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 -DCMAKE_BUILD_TYPE=Release

● Faster-LIO on `ARM` architecture (e.g., Jetson Xavier)

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ git clone https://github.com/syoyo/tbb-aarch64
$ cd tbb-aarch64
$ ./scripts/bootstrap-aarch64-linux.sh
$ cd build-aarch64
$ make && make install

$ gedit faster-lio/cmake/packages.cmake

Edit line 13 as:
    #set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib/intel64/gcc4.7")
    set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib")


$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb-aarch64/dist -DCMAKE_BUILD_TYPE=Release

● VoxelMap

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

$ git clone https://github.com/hku-mars/VoxelMap.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for VoxelMap

/usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ ...
- You could meet this error in ROS-melodic. Fix as here

$ sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
$ sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

$ sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
$ sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

● R3LIVE

$ cd ~/your_workspace/src
$ git clone https://github.com/hku-mars/r3live.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for R3LIVE

LiDAR incoming frame too old ...

Original Livox-ros-driver does not publish the data with ROS timestamp, but LiDAR time.
So, use modified livox-ros-driver here
If that does not solve the problem, edit lddc.cpp yourself, line 563:

//livox_msg.header.stamp = ros::Time((timestamp - init_lidar_tim - packet_offset_time )  / 1e9 + init_ros_time);
  livox_msg.header.stamp = ros::Time::now();
  /**************** Modified for R2LIVE **********************/
  ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);
  if (kOutputToRos == output_type_)
  {
    p_publisher->publish(livox_msg);
  }

● How to properly set configuration for R3LIVE

Camera calibration - use Kalibr or camera_calibration
- Kalibr - refer original repo
- camera_calibration - use as here
Lidar-Camera calibration
- Other spinning LiDARs are not supported yet (for RGB mapping), but try to use lidar_camera_calibration repo, if you want to.
- For LiVOX LiDAR, use livox_camera_calib repo
  - Record a bag file of LiVOX LiDAR data and capture the image from RGB camera you use.
  - Convert a bag file into a PCD file with (change directories in the launch file):
```
$ roslaunch livox_camera_calib bag_to_pcd.launch
```
  - Then, calibrate LiDAR and camera as (change directories in the launch and config files):
```
$ roslaunch livox_camera_calib calib.launch
```

★Note: extrinsic rotational parameter from `livox_camera_calib` should be transposed in the `r3live_config.yaml` file. Refer my extrinsic result and r3live config file

Left: Target image. Right: Target PCD

Left: calibrated image and residuals. Right: calibrated image

Sensor configuration of mine: Pixhawk4 mini as an IMU, FLIR Blackfly S USB3 (BFS-U3-23S3C-C), LiVOX MID-70

● Point-LIO

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

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/Point-LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● KISS-ICP (ROS1)

$ cd ~/your_workspace/src
$ git clone https://github.com/PRBonn/kiss-icp.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● DLO

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● DLIO

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● FAST-LIO-MULTI

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/engcang/FAST_LIO_MULTI
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● PV-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/HViktorTsoi/PV-LIO
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● SLAMesh

$ sudo apt-get install build-essential cmake cmake-curses-gui libflann-dev libgsl-dev libeigen3-dev libopenmpi-dev \
     openmpi-bin opencl-c-headers ocl-icd-opencl-dev libboost-all-dev libopencv-dev libyaml-cpp-dev \
     freeglut3-dev libhdf5-dev qtbase5-dev qt5-default libqt5opengl5-dev liblz4-dev

# Ubuntu 18.04
$ sudo apt-get install libvtk6-dev libvtk6-qt-dev
# Ubuntu 20.04
$ sudo apt-get install libvtk7-dev libvtk7-qt-dev

$ git clone https://github.com/uos/lvr2.git
$ cd lvr2 
$ mkdir build && cd build
$ cmake .. && make
$ sudo make install

$ cd ~/your_workspace/src
$ git clone https://github.com/naturerobots/mesh_tools.git
$ git clone https://github.com/RuanJY/SLAMesh.git
$ cd..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for SLAMesh

With Ceres >= 2.0 version and OpenCV 4.X version, ceres.solve can occur error
Delete OpenCV dependency in CMakeLists.txt

#target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})
target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})

● ImMesh

$ sudo apt-get install ros-noetic-cv-bridge ros-noetic-tf ros-noetic-message-filters ros-noetic-image-transport*
$ sudo apt-get install -y libcgal-dev pcl-tools libgl-dev libglm-dev libglfw3-dev libglew-dev libglw1-mesa-dev libxkbcommon-x11-dev
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/hku-mars/ImMesh
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for ImMesh

Use Ubuntu >= 20.04. Otherwise, CGAL version issue will bother you.

How to run

● check each of config files and launch files in the folders of this repo

Trouble shooting for `Gazebo Velodyne plugin`

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

Name		Name	Last commit message	Last commit date
Latest commit History 50 Commits
fast-lio2		fast-lio2
faster_lio		faster_lio
lego-loam		lego-loam
lio-sam		lio-sam
lvi-sam		lvi-sam
r3live		r3live
voxelmap		voxelmap
LICENSE		LICENSE
README.md		README.md
lidar_repair.py		lidar_repair.py

License

noticeable/SLAM-application

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