LeGO-LOAM-BOR

What is LeGO-LOAM-BOR?

• LeGO-LOAM-BOR is improved version of the LeGO-LOAM by improving quality of the code, making it more readable and consistent. Also, performance is improved by converting processes to multi-threaded approach.

Repository Information

Original Repository link

https://github.com/facontidavide/LeGO-LOAM-BOR

Required Sensors

• LIDAR [VLP-16]
• IMU [9-AXIS]

ROS Compatibility

• ROS 1

Dependencies

• ROS Melodic ROS Installation
• PCL PCL Installation
• Gtsam GTSAM Installation

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install

Build & Run

1) Build

cd ~/catkin_ws/src
git clone https://github.com/facontidavide/LeGO-LOAM-BOR.git
cd ..
catkin_make

2) Set parameters

• Set parameters on LeGo-LOAM/loam_config.yaml

3) Run

source devel/setup.bash
roslaunch lego_loam_bor run.launch rosbag:=/path/to/your/rosbag lidar_topic:=/velodyne_points

Example Result

Cite LeGO-LOAM

Thank you for citing our LeGO-LOAM paper if you use any of this code:

@inproceedings{legoloam2018,
  title={LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain},
  author={Tixiao Shan and Brendan Englot},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4758-4765},
  year={2018},
  organization={IEEE}
}