lego-loam_ndt

we add map save service in LeGO-LOAM, ndt_localizer is used to complete localization work based on normal distribution voxel map.

0. Features

LeGO-LOAM is a 3D Lidar SLAM with loop detection function, which can be used for large-scale scene mapping. The ndt_localizer can achieve general scene representation using Gaussian distribution voxels and perform real-time localization.

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 18.04

ROS >= Melodic. ROS Installation

1.2. PCL && Eigen

PCL >= 1.8, Follow PCL Installation.

Eigen >= 3.3.3, Follow Eigen Installation.

1.3. Gtsam

  wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
  cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
  cd ~/Downloads/gtsam-4.0.0-alpha2/
  mkdir build && cd build
  cmake ..
  sudo make install

2. Build

Clone the repository and catkin_make:

    cd ~/$A_ROS_DIR$/src
    git clone https://github.com/Hero941215/lego-loam_ndt
    cd lego-loam_ndt
    git submodule update --init
    cd ../..
    catkin_make
    source devel/setup.bash

3. Run

3.1. run lego-loam

roslaunch lego_loam run.launch

3.2. run ndt_localizer

roslaunch ndt_localizer ndt_localizer.launch

Config map loader

Move your map pcd file (.pcd) to the map folder inside this project (ndt_localizer/map), change the pcd_path in map_loader.launch to you pcd path, for example:

<arg name="pcd_path"  default="$(find ndt_localizer)/map/kaist02.pcd"/>

4. Acknowledgments

Thanks for LeGo-LOAM, ndt_localizer.