LIO-SAM-Robot

ROS 2 Packages for Testing LIO-SAM on a Robotic Vehicle with 3D LIDAR and 9-Axis IMU.

Robot Simulation (Gazebo)	Real-Time Data Visualization (RViz)	Saved PCD Map Visualization & Post-Processing (CloudCompare)

Dependencies

• ROS2 (Tested with ROS 2 Foxy Desktop Install)

  sudo apt install ros-$ROS_DISTRO-perception-pcl \
    	   ros-$ROS_DISTRO-pcl-msgs \
    	   ros-$ROS_DISTRO-vision-opencv \
    	   ros-$ROS_DISTRO-xacro

• gtsam (Georgia Tech Smoothing and Mapping Library)

  sudo add-apt-repository ppa:borglab/gtsam-release-4.1
  sudo apt install libgtsam-dev libgtsam-unstable-dev

Install

cd ~/ROS2_WS/src
git clone https://github.com/Tinker-Twins/LIO-SAM-Robot.git
cd ..
colcon build

Execute

1. Launch simulation:

ros2 launch robot_gazebo robot_sim.launch.py

2. Run the teleoperation node:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Note: To use joystick teleoperation, uncomment the final lines from robot_sim.launch.py and do NOT execute teleop_twist_keyboard

# Node(
# package = "joy",
# executable = "joy_node"
# ),
# IncludeLaunchDescription(
#     PythonLaunchDescriptionSource(
#         os.path.join(pkg_cart_pole_control, 'launch', 'robot_control.launch.py')
#     ),
# ),

3. Launch LIO-SAM node:

ros2 launch lio_sam run.launch.py

Note: Teleoperate the robot around the environment until a satisfactory map is built.

4. Save the PCD map:

ros2 service call /lio_sam/save_map lio_sam/srv/SaveMap

OR

ros2 service call /lio_sam/save_map lio_sam/srv/SaveMap "{resolution: 0.2 destination: /Documents/PCD_Map}"

Note: Map files will be saved to the path pointed by the current terminal window.

Similar Repositories:

https://github.com/Tinker-Twins/LIDAR-SLAM-Robot