Advanced implementation of LOAM
A-LOAM is an Advanced implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), which uses Eigen and Ceres Solver to simplify code structure. This code is modified from LOAM and LOAM_NOTED. This code is clean and simple without complicated mathematical derivation and redundant operations. It is a good learning material for SLAM beginners.
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation
1.2. Ceres Solver
Follow Ceres Installation.
Follow PCL Installation.
2. Build A-LOAM
Clone the repository and catkin_make:
cd ~/catkin_ws/src git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git cd ../ catkin_make source ~/catkin_ws/devel/setup.bash
3. Velodyne VLP-16 Example
Download NSH indoor outdoor to YOUR_DATASET_FOLDER.
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag
4. KITTI Example (Velodyne HDL-64)
Download KITTI Odometry dataset to YOUR_DATASET_FOLDER and set the
sequence_number parameters in
kitti_helper.launch file. Note you also convert KITTI dataset to bag file for easy use by setting proper parameters in
roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch roslaunch aloam_velodyne kitti_helper.launch
5. Docker Support
To further facilitate the building process, we add docker in our code. Docker environment is like a sandbox, thus makes our code environment-independent. To run with docker, first make sure ros and docker are installed on your machine. Then add your account to
docker group by
sudo usermod -aG docker $YOUR_USER_NAME. Relaunch the terminal or logout and re-login if you get
Permission denied error, type:
cd ~/catkin_ws/src/A-LOAM/docker make build
The build process may take a while depends on your machine. After that, run
./run.sh 16 or
./run.sh 64 to launch A-LOAM, then you should be able to see the result.
Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and LOAM_NOTED.