SC-A-LOAM#

What is SC-A-LOAM?#

A real-time LiDAR SLAM package that integrates A-LOAM and ScanContext.

Repository Information#

Original Repository link#

https://github.com/gisbi-kim/SC-A-LOAM

Required Sensors#

LIDAR [VLP-16, HDL-32, HDL-64, Ouster OS1-64]

Prerequisites (dependencies)#

ROS
GTSAM version 4.x.

If GTSAM is not installed, follow the steps below.

  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

ROS Compatibility#

ROS 1

Build & Run#

1) Build#

First, install the above mentioned dependencies and follow below lines.

 mkdir -p ~/catkin_scaloam_ws/src
 cd ~/catkin_scaloam_ws/src
 git clone https://github.com/gisbi-kim/SC-A-LOAM.git
 cd ../
 catkin_make
 source ~/catkin_scaloam_ws/devel/setup.bash

2) Set parameters#

After downloading the repository, change topic and sensor settings on the launch files.

Scan Context parameters#

If encountering ghosting error or loop is not closed, change the scan context parameters.
Adjust the scan context settings with the parameters in the marked area.

3) Run#

roslaunch aloam_velodyne aloam_mulran.launch

4) Saving as PCD file#

  rosrun pcl_ros pointcloud_to_pcd input:=/aft_pgo_map

Example Results#

Riverside 01, MulRan dataset#

The MulRan dataset provides lidar scans (Ouster OS1-64, horizontally mounted, 10Hz) and consumer level gps (u-blox EVK-7P, 4Hz) data.
About how to use (publishing data) data: see here https://github.com/irapkaist/file_player_mulran

example videos on Riverside 01 sequence.

1. with consumer level GPS-based altitude stabilization: https://youtu.be/FwAVX5TVm04
2. without the z stabilization: https://youtu.be/okML_zNadhY

example result:

KITTI 05#

For KITTI (HDL-64 sensor), run using the command

roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch # for KITTI dataset setting

To publish KITTI scans, you can use mini-kitti publisher, a simple python script: https://github.com/gisbi-kim/mini-kitti-publisher
example video (no GPS used here): https://youtu.be/hk3Xx8SKkv4
example result:

Contact#

Maintainer: paulgkim@kaist.ac.kr