LIO-SAM-converter

Example Dataset:

Download the dataset from Bunker DVI Dataset

Intended use

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

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

Dependencies

sudo apt install -y nlohmann-json3-dev

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

Modified for build

Reference issue:

[catkin_make in ROS Noetic [Error] #206](https://github.com/TixiaoShan/LIO-SAM/issues/206)

**Changes made:**

  File:

  test_ws/src/LIO-SAM-to-hdmapping/src/LeGO-LOAM/LeGO-LOAM/CMakeLists.txt

   cmake

#find_package(Boost REQUIRED COMPONENTS timer)
find_package(Boost REQUIRED COMPONENTS serialization thread timer chrono)

Updated C++ standard

Replaced:

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

With:

    set(CMAKE_CXX_STANDARD 14)
    set(CMAKE_CXX_STANDARD_REQUIRED ON)

File:

test_ws/src/LeGO-LOAM-to-hdmapping/src/LeGO-LOAM/LIO-SAM/include/utility.h

Changes made:

Added Eigen includes. Eigen must be installed above PCL.

#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Geometry>

under pcl 

#include <opencv/cv.h> to #include <opencv2/opencv.hpp>

Building

Clone the repo

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

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /lio_sam/mapping/cloud_registered /odometry/imu

and start odometry:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch lio_sam run.launch
rosbag play your-bag.bag -r 3

Usage - conversion:

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

Modfifed

src/LIO-SAM-to-HDMapping/src/LIO-SAM/config/params.yaml

pointCloudTopic: "points_raw"
imuTopic: "imu_raw"

to:

pointCloudTopic: "pp_points/synced2rgb"
imuTopic: "/imu/data"

Record the bag file:

rosbag record /lio_sam/mapping/cloud_registered /odometry/imu

LIO_SAM Launch:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch lio_sam run.launch
rosbag play {path_to_bag}

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 lio-sam-to-hdmapping listener <recorded_bag> <output_dir>