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hdl_graph_slam#

What is hdl_graph_slam?#

  • An open source ROS package for real-time 6DOF SLAM using a 3D LIDAR. It is based on 3D Graph SLAM with NDT scan matching-based odometry estimation and loop detection. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor), and floor plane (detected in a point cloud).

Repository Information#

https://github.com/koide3/hdl_graph_slam

Required Sensors#

  • LIDAR [Velodyne, Ouster, RoboSense]
  • IMU [6-AXIS, 9-AXIS] [OPTIONAL]
  • GPS [OPTIONAL]

ROS Compatibility#

  • ROS 1

Dependencies#

  • ROS
  • PCL
  • g2o
  • OpenMP

The following ROS packages are required:

Build & Run#

1) Build#

# for melodic
sudo apt-get install ros-melodic-geodesy ros-melodic-pcl-ros ros-melodic-nmea-msgs ros-melodic-libg2o
cd catkin_ws/src
git clone https://github.com/koide3/ndt_omp.git -b melodic
git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive
git clone https://github.com/koide3/hdl_graph_slam

cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release

# for noetic
sudo apt-get install ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs ros-noetic-libg2o

cd catkin_ws/src
git clone https://github.com/koide3/ndt_omp.git
git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive
git clone https://github.com/koide3/hdl_graph_slam

cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release

2) Set parameter#

  • Set lidar topic on launch/hdl_graph_slam_400.launch

  • Set registration settings on launch/hdl_graph_slam_400.launch

3) Run#

rosparam set use_sim_time true
roslaunch hdl_graph_slam hdl_graph_slam_400.launch

roscd hdl_graph_slam/rviz
rviz -d hdl_graph_slam.rviz

rosbag play --clock hdl_400.bag

Save the generated map by:

rosservice call /hdl_graph_slam/save_map "resolution: 0.05
destination: '/full_path_directory/map.pcd'"

Example Result#

Example2 (Outdoor)#

Bag file (recorded in an outdoor environment):

rosparam set use_sim_time true
roslaunch hdl_graph_slam hdl_graph_slam_400.launch

roscd hdl_graph_slam/rviz
rviz -d hdl_graph_slam.rviz

rosbag play --clock dataset.bag

Papers#

Kenji Koide, Jun Miura, and Emanuele Menegatti, A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement, Advanced Robotic Systems, 2019 [link].

Contact#

Kenji Koide, k.koide@aist.go.jp, https://staff.aist.go.jp/k.koide

[Active Intelligent Systems Laboratory, Toyohashi University of Technology, Japan]
[Mobile Robotics Research Team, National Institute of Advanced Industrial Science and Technology (AIST), Japan]