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A summary of Livox-related SLAM-application: compiling and execution

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Livox-related-SLAM-application

A summary of Livox-related SLAM-application: compiling and execution

Videos:

Single-LiDAR

Multi-LiDARs

  • video15: FAST-LIO-MULTI bundle update vs asynchronous update

Dependencies

  • Common packages
sudo apt-get install -y ros-noetic-navigation ros-noetic-robot-localization ros-noetic-robot-state-publisher
  • GTSAM for LVI-SAM and LIO-SAM
wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
unzip gtsam.zip
cd gtsam-4.0.2/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
sudo make install -j8
sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz #LVI-SAM
wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz #SLAMesh
tar zxf ceres-solver-1.14.0.tar.gz #LVI-SAM
tar zxf ceres-solver-2.1.0.tar.gz #SLAMesh
mkdir ceres-bin
mkdir solver && cd ceres-bin
cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver"  #good for build without being root privileged and at wanted directory
make -j8 # 8 : number of cores
make test
make install
  • glog, g++-9 and gcc-9 for Faster-LIO
sudo apt-get install libgoogle-glog-dev
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9 g++-9
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9

Compiling

● LiLi-OM

cd ~/catkin_ws/src
git clone https://github.com/KIT-ISAS/lili-om
cd ..
catkin build livox_ros_driver
catkin build lili_om
catkin build lili_om_rot

● LIO-SAM

cd ~/your_workspace/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● You can test the livox data with Pointcloud2 format input.

● Loam-Livox

cd ~/your_workspace/src
git clone https://github.com/hku-mars/loam_livox.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● You can test the livox horizon or hap with livox-horizon-loam.

● FAST-LIO 1 & 2

cd ~/your_workspace/src
git clone https://github.com/hku-mars/FAST_LIO.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● Faster-LIO

cd ~/your_workspace/src
git clone https://github.com/gaoxiang12/faster-lio.git

cd faster-lio/thirdparty
tar -xvf tbb2018_20170726oss_lin.tgz

cd ~/your_workspace
catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss -DCMAKE_BUILD_TYPE=Release

● You need modify the launch file when use the horizon.launch

● Lio-livox

cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/LIO-Livox.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● livox-mapping

cd ~/your_workspace/src
git clone https://github.com/PJLab-ADG/Livox-Mapping.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● BALM-old

cd ~/your_workspace/src
git clone https://github.com/hku-mars/BALM.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● VoxelMap

cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

git clone https://github.com/hku-mars/VoxelMap.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● VoxelMap++

cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

git clone https://github.com/uestc-icsp/VoxelMapPlus_Public.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● PV-LIO

cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver
git clone https://github.com/HViktorTsoi/PV-LIO
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● DLO

sudo apt install libomp-dev libpcl-dev libeigen3-dev 
cd ~/your_workspace/src
git clone https://github.com/vectr-ucla/direct_lidar_odometry.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● DLIO

sudo apt install libomp-dev libpcl-dev libeigen3-dev 
cd ~/your_workspace/src
git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● Point-LIO

cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

cd ~/your_workspace/src
git clone https://github.com/hku-mars/Point-LIO.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● FAST-LIO-MULTI

cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver
git clone https://github.com/engcang/FAST_LIO_MULTI
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● ImMesh

sudo apt-get install ros-noetic-cv-bridge ros-noetic-tf ros-noetic-message-filters ros-noetic-image-transport*
sudo apt-get install -y libcgal-dev pcl-tools libgl-dev libglm-dev libglfw3-dev libglew-dev libglw1-mesa-dev libxkbcommon-x11-dev
sudo apt-get install -y libxinerama-dev
cd ~/your_workspace/src
git clone https://github.com/Livox-SDK/livox_ros_driver
catkin_make
cd ~/your_workspace/src
git clone https://github.com/hku-mars/ImMesh
cd ..
catkin_make

How to run

● check each of config files and launch files in the folders of this repo

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