slam with lidar imu/gps
Lidar_ImuGps_Slam 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 vins_fusion(https://github.com/HKUST-Aerial-Robotics/VINS-Fusion).
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation
Follow Ceres Installation.
Follow PCL Installation.
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone [email protected]:jxx315/Lidar_ImuGps_Slam.git
cd ../
catkin_make -j8
source ~/catkin_ws/devel/setup.bash
Download KITTI Odometry dataset to YOUR_DATASET_FOLDER and set the dataset_folder and 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 kitti_helper.launch.
roslaunch loam_velodyne lg_velodyne.launch
Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) ,VINS_fustion(https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git)and LOAM_NOTED.