Husky-LIO-SAM (Melodic - Go to Noetic version)

This package is an implementation of the LIO-SAM on Husky UGV in a simulation environment.

This package is based on:

• LIO-SAM

• HUSKY

Requirements:

• ROS Melodic
• Click for ROS Noetic version

Make sure that you have installed all dependencies:

sudo apt-get install -y ros-melodic-navigation
sudo apt-get install -y ros-melodic-robot-localization
sudo apt-get install -y ros-melodic-robot-state-publisher
sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev
sudo apt-get install ros-melodic-velodyne-*

Then install the Husky packages (for more information visit HUSKY):

sudo apt-get install ros-melodic-husky-*
export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro

How to compile:

mkdir -p   catkin_ws_HUSKY_LIO_SAM
cd ~/catkin_ws_HUSKY_LIO_SAM
git clone -b Melodic https://github.com/FarzadAziziZade/Husky-LIO-SAM.git
mv Husky-LIO-SAM src
catkin_make

How to prepare simulation environment:

1. download the DAE file
2. put the file in (catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds/include)
3. go to (catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds)
4. open (clearpath_playpen.world) with a texteditor
5. find two lines including (/home/{USERNAME}/catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds/include/minefourthv7withCforGAZEBOO.dae)
6. replace the {USERNAME} with your own username
7. save the file and close it
8. Follow these commands:

sudo cp -r ~/catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/ /opt/ros/melodic/share

How to run the SLAM simulation:

1. source devel/setup.bash
2. roslaunch lio_sam hrun.launch
3. roslaunch lio_sam run.launch
4. roslaunch lio_sam mrun.launch

How to run the merging module without SLAM:

1. source devel/setup.bash
2. roslaunch lio_sam hrun.launch
3. roslaunch lio_sam mrun_wrviz.launch

SLAM and Simulation Results:

PCL_M Results: