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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#

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#

  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.

Extrinsic Matrices

  • 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

launch

Example Result#

example_results1

example_results2

Other Examples#

example_results

Example dataset#

Check original repository link for example dataset.

Contact#

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

Acknowledgements#