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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#

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

Required Sensors#

  • LIDAR [VLP-16]
  • IMU [9-AXIS]

ROS Compatibility#

  • ROS 1

Dependencies#

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}
}