SlideSLAM

This repository contains the source code for the project SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation; altered for use as a baseline for the Lunar Lab.

Installation with Docker

Install docker: https://docs.docker.com/desktop/install/linux/ubuntu/#install-docker-desktop

Pull the docker image:

docker pull xurobotics/slide-slam:latest

Create the workspace (important)

First, create the ros workspace with the src folder, and then navigate the terminal to that src folder.

Creating the workspace outside the docker helps you keep your files and changes within the workspace even if you delete the un-committed docker container.

Clone the repo:

git clone https://github.com/XuRobotics/SLIDE_SLAM.git

(Optional) Only if you need to run on LiDAR data, install Faster-LIO and LiDAR drivers:

Navigate to the root folder of the ros workspace and then run:

git clone git@github.com:ouster-lidar/ouster_example.git && cd ouster_example && git checkout 43107a1 && cd ..
git clone git@github.com:XuRobotics/faster-lio
git clone git@github.com:KumarRobotics/ouster_decoder.git && cd ouster_decoder && git checkout d66b52d  && cd ..

Find the CMakeLists.txt in ouster_decoder and comment out the last three lines (the ouster_viz) to avoid fmt issue

Run the docker image:

Important: Go to docker/run_container.sh in this repository & make sure the following directories is correct:

REPO_DIR= ...
DATA_DIR= ...

These should point to the folder of the ros workspace where this directory is found, and the directory where datasets are located.

Additionally, update the docker/Dockerfile with the corresponding values for your user:

# Set user arguments (being username, echo $UID, and id -g)
ARG USERNAME=
ARG USER_UID=
ARG USER_GID=

Then run the following in the root folder of this repository:

./docker/build_image.sh
./docker/run_container.sh

The rest of this README assumes that you are inside the Docker container. For easier debugging and use, its highly recommended to install the VSCode Docker extension, which allows you to start/stop the container and additionally attach VSCode to the container by right-clicking on the container and selecting Attach Visual Studio Code. If that isn't possible, you can re-enter the container running the following command:

./docker/enter_container.sh

Build the workspace: Navigate to ~/slideslam_original_ws and then run the following commands:

catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
source /opt/ros/noetic/setup.bash
catkin build -DCMAKE_BUILD_TYPE=Release

Before running any code, make sure to source the following file:

source ~/slideslam_original_ws/devel/setup.bash

Troubleshoot:

• If you do not see your code inside docker, double check docker/run_container.sh file to make sure you have your workspace mapped properly.

Run HERCULES experiments

Run the following commands:

source ~/slideslam_original_ws/devel/setup.bash
tmuxp load src/SLIDE_SLAM/backend/multi_robot_utils_launch/tmux/hercules.yaml