LIO-SAM

For Lio-sam

Install this repo

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/SLAM-BOX/LIO-SAM.git --branch dev
cd ../../
catkin build

Run lio-sam For real data

roslaunch lio-sam run.launch

For lgsvl data, we need to add ring channel into the /velodyne_points topic.

roscd lgsvl && python convert.py

Run lio-sam on lgsvl

roslaunch lio-sam run_lgsvl.launch

Prepare data

链接：https://pan.baidu.com/s/1HoUSZt0pAfeF4vPTWPngnQ 提取码：yn3t

For LgSVL Simulation

Configure on Linux

Open Web-bridge

roslaunch lgsvl sensor.launch

This launch file can open the web bridge between windows/linux, then you can subscribe topics from lgsvl on windows side.

Install & Configure LgSVL on Windows

Install LgSVL

• Download and Install LgSVL
• Configure the scenary

Configure LgSVL

• Configure Car parameters You need to configure the sensor outputs from for a given vehicle.

• Configure simulator

• Configure scene You can modify the scene and add custom video outputs for lgsvl.

EVO Analysis

Loop Closure Detection Updating

TODO Lists

• Add LgSVL simulator
• Modify LiDAR msg from lgsvl
• Add loop closure detection
• Update Map optimization