ROS2与3D-SLAM入门教程-LIO-SAM算法建图

ROS2与3D-SLAM入门教程-LIO-SAM算法建图

说明:

• 介绍如何利用LIO-SAM算法实现3D建图
• 测试环境：ubuntu20.04 + ros2 galactic

步骤:

• 安装ros2相关包

sudo apt install ros-galactic-perception-pcl \
                 ros-galactic-pcl-msgs \
                 ros-galactic-vision-opencv \
                 ros-galactic-xacro

• 安装GTSAM

# Add GTSAM-PPA
sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev

• 下载源码

mkdir -p ~/ros2_slam_3d_ws/src
cd ~/ros2_slam_3d_ws/src
git clone -b ros2  https://github.com/TixiaoShan/LIO-SAM.git

• 编译

cd ~/ros2_slam_3d_ws
colcon build --symlink-install --packages-select LIO-SAM

测试:

• 如果使用ros1录制的包来测试，可以下载ros1bag hdl_400.bag
• 这个包需要安装ros2 bag的插件rosbag2_bag_v2进行转换，　参考方法ros2入门教程-rosbag和ros2 bag 转换
• 新终端，启动lio_sam

source /opt/ros/galactic/setup.bash
cd ~/ros2_slam_3d_ws/
ros2 launch lio_sam run.launch.py

• 新终端，播放包

$ source /opt/ros/noetic/setup.bash
$ source /opt/ros/galactic/setup.bash
$ ros2 bag info -s rosbag_v2 dataset/hdl_400.bag

• 效果图

• 保存map.pcd和pose_graph.g2o，　保存的目录为运行lidarslam.launch.py的目录
• 目前是在~/ros2_slam_3d_ws/目录下运行

cd ~/ros2_slam_3d_ws/
ros2 service call /lio_sam/save_map lio_sam/srv/SaveMap
或者
ros2 service call /lio_sam/save_map lio_sam/srv/SaveMap "{resolution: 0.2, destination: /Downloads/service_LOAM}"

• 打开pcd
• 如果没pcl_viewer，既需安装

sudo apt install libpcl-dev　pcl-tools

• 打开

cd ~/ros2_slam_3d_ws2/
pcl_viewer map.pcd

• 效果图

参考:

• https://github.com/TixiaoShan/LIO-SAM/tree/ros2