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Enhancement changes #293

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2624398
Noetic version of LeGO-LOAM
Ophien Jan 7, 2025
9445df4
Merge pull request #1 from verlab/feature/noetic_changes
Ophien Jan 7, 2025
757db9d
Use_sim_time config
Ophien Jan 13, 2025
fc9a504
Merge pull request #2 from verlab/feature/use_sim_time
Ophien Jan 13, 2025
10955a4
Updated viz and imu source (#3)
Ophien Feb 12, 2025
68c7985
Added arguments for IMU and LiDAR
Ophien Feb 17, 2025
e7f35a9
changes in run.launch
RonaldTK2002 May 30, 2025
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5 changes: 3 additions & 2 deletions LeGO-LOAM/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.8.3)
project(lego_loam)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3")

find_package(catkin REQUIRED COMPONENTS
tf
Expand All @@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
find_package(GTSAM REQUIRED QUIET)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(Boost REQUIRED COMPONENTS timer thread serialization chrono)

catkin_package(
INCLUDE_DIRS include
Expand Down Expand Up @@ -57,4 +58,4 @@ add_executable(mapOptmization src/mapOptmization.cpp)
target_link_libraries(mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)

add_executable(transformFusion src/transformFusion.cpp)
target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
11 changes: 6 additions & 5 deletions LeGO-LOAM/include/utility.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,8 @@

#include "cloud_msgs/cloud_info.h"

#include <opencv/cv.h>
//#include <pcl/kdtree/kdtree_flann.h>
#include <opencv2/opencv.hpp>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
Expand Down Expand Up @@ -50,14 +51,14 @@ using namespace std;

typedef pcl::PointXYZI PointType;

extern const string pointCloudTopic = "/velodyne_points";
extern const string imuTopic = "/imu/data";
extern const string pointCloudTopic = "/mid/points";
extern const string imuTopic = "/imu/imu_and_mag";

// Save pcd
extern const string fileDirectory = "/tmp/";

// Using velodyne cloud "ring" channel for image projection (other lidar may have different name for this channel, change "PointXYZIR" below)
extern const bool useCloudRing = true; // if true, ang_res_y and ang_bottom are not used
extern const bool useCloudRing = false; // if true, ang_res_y and ang_bottom are not used

// VLP-16
extern const int N_SCAN = 16;
Expand Down Expand Up @@ -101,7 +102,7 @@ extern const int groundScanInd = 7;
// extern const float ang_bottom = 16.6+0.1;
// extern const int groundScanInd = 15;

extern const bool loopClosureEnableFlag = false;
extern const bool loopClosureEnableFlag = true;
extern const double mappingProcessInterval = 0.3;

extern const float scanPeriod = 0.1;
Expand Down
13 changes: 9 additions & 4 deletions LeGO-LOAM/launch/run.launch
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Original file line number Diff line number Diff line change
@@ -1,17 +1,22 @@
<launch>

<!--- Sim Time -->
<param name="/use_sim_time" value="true" />
<!-- <param name="/use_sim_time" value="true" /> -->
<arg name="imu_topic" default="/imu/data"/>
<arg name="point_cloud_topic" default="/mid/points"/>

<!--- Run Rviz-->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find lego_loam)/launch/test.rviz" />

<!--- TF -->
<node pkg="tf" type="static_transform_publisher" name="camera_init_to_map" args="0 0 0 1.570795 0 1.570795 /map /camera_init 10" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0 0 0 -1.570795 -1.570795 0 /camera /base_link 10" />
<node pkg="tf" type="static_transform_publisher" name="camera_init_to_odom" args="0 0 0 1.570795 0 1.570795 odom camera_init 10" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0 0 0 -1.570795 -1.570795 0 camera base_link 10" />

<!--- LeGO-LOAM -->
<node pkg="lego_loam" type="imageProjection" name="imageProjection" output="screen"/>
<node pkg="lego_loam" type="imageProjection" name="imageProjection" output="screen">
<remap from="/mid/points" to="$(arg point_cloud_topic)"/>
<remap from="/imu/data" to="$(arg imu_topic)"/>
</node>
<node pkg="lego_loam" type="featureAssociation" name="featureAssociation" output="screen"/>
<node pkg="lego_loam" type="mapOptmization" name="mapOptmization" output="screen"/>
<node pkg="lego_loam" type="transformFusion" name="transformFusion" output="screen"/>
Expand Down
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