FAST-LIO converter

Example Dataset:

Download the dataset from Bunker DVI Dataset

Intended use

This small toolset allows to integrate SLAM solution provided by fast-lio with HDMapping. This repository contains ROS 1 workspace that :

• submodule to tested revision of FAST-LIO
• a converter that listens to topics advertised from odometry node and save data in format compatible with HDMapping.

Building

Clone the repo

mkdir -p /test_ws/src
cd /test_ws/src
git clone https://github.com/marcinmatecki/FAST-LIO-to-HDMapping.git --recursive
cd ..
catkin_make

Dependencies

sudo apt install -y nlohmann-json3-dev

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /cloud_registered /Odometry

and start odometry:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
For launch, check https://github.com/hku-mars/FAST_LIO/
rosbag play your bag file

Usage - conversion:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
rosrun fast-lio-to-hdmapping listener <recorded_bag> <output_dir>

Record the bag file:

rosbag record /cloud_registered /Odometry -O {your_directory_for_the_recorded_bag}

Modify

  src/FAST-LIO-to-HDMapping/src/FAST_LIO/config/ouster64.yaml

  lid_topic: "/os_cloud_node/points"
  imu_topic: "/os_cloud_node/imu"

  to:
  
  lid_topic: "/os1_cloud_node1/points"
  imu_topic: "/os1_cloud_node1/imu"

FAST-LIO Launch:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch fast_lio mapping_ouster64.launch 
rosbag play your bag file

During the record (if you want to stop recording earlier) / after finishing the bag:

In the terminal where the ros record is, interrupt the recording by CTRL+C
Do it also in ros launch terminal by CTRL+C.

Usage - Conversion (ROS bag to HDMapping, after recording stops):

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
rosrun fast-lio-to-hdmapping listener <recorded_bag> <output_dir>