FAST_LIO_LC

What is FAST_LIO_LC?

• A computationally efficient and robust LiDAR-inertial odometry package with loop closure module and graph optimization.

Repository Information

Original Repository link

https://github.com/yanliang-wang/FAST_LIO_LC

Required Sensors

• LIDAR [Velodyne, Ouster, Livox]
• IMU [6-AXIS, 9-AXIS]
• GPS [Optional]

ROS Compatibility

• ROS 1

Dependencies

• Ubunutu 18.04
• ROS Melodic
• PCL >= 1.8, Follow PCL Installation.
• Eigen >= 3.3.4, Follow Eigen Installation.
• GTSAM >= 4.0.0, Follow 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

    mkdir -p ~/ws_fastlio_lc/src
    cd ~/ws_fastlio_lc/src
    git clone https://github.com/gisbi-kim/FAST_LIO_SLAM.git
    git clone https://github.com/Livox-SDK/livox_ros_driver
    cd ..
    catkin_make

2) Set parameters

• After downloading the repository, change topic and sensor settings on the config file (workspace/src/FAST_LIO_LC/FAST_LIO/config/ouster64_mulran.yaml) with the lidar topic name in your bag file.

• For imu-lidar compatibility, extrinsic matrices from calibration must be changed.

• To enable auto-save, pcd_save_enable must be 1 from the launch file (workspace/src/FAST_LIO_LC/FAST_LIO/launch/mapping_ouster64_mulran.launch).

3) Run

• For Ouster OS1-64

  # open new terminal: run FAST-LIO
  roslaunch fast_lio mapping_ouster64.launch
  
  # open the other terminal tab: run SC-PGO
  roslaunch aloam_velodyne fastlio_ouster64.launch
  
  # play bag file in the other terminal
  rosbag play RECORDED_BAG.bag --clock
  

Example Result

Other Examples

Example dataset

Check original repository link for example dataset.

Contact

• Maintainer: Yanliang Wang (wyl410922@qq.com)

Acknowledgements

• Thanks for FAST_LIO authors.