livox_relocalization: A C++ repository from tshiamor

Livox_Relocalization

Livox-Relocalization is a relocalization package for Livox LiDARs. This package load the map which create by mid40 and then use this map to relocate itself.

Example map points:

Relocalization:

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

1.2. PCL && Eigen && openCV

Follow PCL Installation. Follow Eigen Installation. Follow openCV Installation.

1.3. livox_ros_driver

Follow livox_ros_driver Installation.

2. Build

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/Livox-SDK/livox_relocalization.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3. Get lidar map

Download map_example or use your own mid40 to create a map and save it to pcd file. You can use our mapping package livox_mapping to create this map.

The map_example.zip include four files {all_points.pcd corner.pcd surf.pcd key_frame.txt}.

Move these files{all_points.pcd corner.pcd surf.pcd key_frame.txt} to .../livox_relocalization/map Change the 'map_file_path' in livox_relocalization.launch to your own path.

4. Rosbag example

Download mid40_re_example and then

roslaunch livox_relocalization livox_relocalization.launch
rosbag play YOUR_DOWNLOADED.bag

5. Directly run

First you should get your own map and load it,then connect to your PC to Livox LiDAR (mid40) by following Livox-ros-driver installation, then

    ....
    roslaunch livox_relocalization livox_relocalization.launch

Remarks:

In this version, the initial pose still needs to be close to the original trajectory, especially the rotation.
When the paramter 'use_map_update' is set to 'true', the map will be updated during the relocalization process, otherwise only the original map is used.

6.AMR(Automated Mobile Robot) example

With the control algorithm, you can DIY an automated mobile car as shown below.

Line track example:

7.Acknowledgments

Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), LOAM_NOTED.

tshiamor/livox_relocalization