lidar_graph_slam
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RyuYamamoto
3D Graph Based SLAM
LiDAR Graph SLAM
InProgress
System OverView
1. Install
Build lidar_graph_slam
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive [email protected]:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
2. run
ros2 launch lidar_graph_slam lidar_graph_slam.launch.xml
3. save map
ros2 service call /save_map lidar_graph_slam_msgs/srv/SaveMap "{resolution: 0.2, path: "<MAP PATH>"}"
ToDo
- [x] graph based SLAM(loop detect)
- [x] save map
- [ ] improve loop detection
- [ ] implement other lidar odometry algorithm
- [ ] use FPFH
- [ ] use original KD-Tree
RyuYamamoto