livox_mapping
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Livox-SDK
A mapping package for Livox LiDARs
Livox_mapping
Livox_mapping is a mapping package for Livox LiDARs. The package currently contains the basic functions of low-speed mapping.
Some key issues:
- Support multiple livox lidar;
- Different feature extraction;
- Remove odometry for small FOV situation;
In the development of our package, we reference to LOAM, LOAM_NOTED.
1. Prerequisites
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation
1.2. PCL && Eigen && openCV
Follow PCL Installation. Follow Eigen Installation. Follow openCV Installation.
1.3. livox_ros_driver
Follow livox_ros_driver Installation.
2. Build
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/Livox-SDK/livox_mapping.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
Remarks:
- If you want to save the pcd file please add map_file_path in launch file.
3. Directly run
3.1 Livox Mid-40
Connect to your PC to Livox LiDAR (mid40) by following Livox-ros-driver installation, then
....
roslaunch livox_mapping mapping_mid.launch
roslaunch livox_ros_driver livox_lidar.launch
3.2 Livox Horizon
Connect to your PC to Livox LiDAR (Horizon) by following Livox-ros-driver installation, then
....
roslaunch livox_mapping mapping_horizon.launch
roslaunch livox_ros_driver livox_lidar_msg.launch
4. Rosbag Example
4.1 Livox Mid-40 rosbag
Download mid40_hall_example or mid40_outdoor and then
roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag
4.2 Livox Mid-100 rosbag
Download mid100_example and then
roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag
4.3 Livox Horizon rosbag
Download horizon_parking or horizon_outdoor and then
roslaunch livox_mapping mapping_horizon.launch
rosbag play YOUR_DOWNLOADED.bag
5.Acknowledgments
Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), LOAM_NOTED.
Livox-SDK