This is the code repository for the IROS'24 paper "Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environment"

Usage:

The repository has been tested in Ubuntu 20.04 with ROS Noetic. To setup OSM-guided Active Loop Closure(ALC), install the dependencies with command lines below.

1. Dependencies

• mlpack
• Opencv 4.2
• Eigen3
• PCL 1.13.1
• OpenMP
• gtsam 4.0.2
• livox_ros_driver2

2. OSM(OpenStreetMap) Global Path Generation

• 1: Download the OSM file for the area to be explored
• 2: Follow osmplanner.ipynb to generate the optimal global path

3. Quick Start

### front end ###
roslaunch fast_lio mapping_avia_rot.launch

### terrain_analysis ###
roslaunch vehicle_simulator system_osm_follow.launch

### waypoint ###
roslaunch osmplanner osmplanner.launch

### gps follow ###
roslaunch gps_follow ini_gps.launch

### active loop closure ###
roslaunch gps_follow active_loop.launch

### back end ###
roslaunch aloam_velodyne fastlio_ouster64.launch

Reference:

Wei Gao, Zezhou Sun, Mingle Zhao, Chengzhong Xu, and Hui Kong, Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environment, IEEE International Conference on Intelligent Robotics and Systems (IROS), 2024. [PDF]

Acknowledgement:

Part of the codes are based on FAST_LIO_SLAM and autonomous exploration development environment. Thanks for their awesome work.