/gazebo_Velodyne_with_LiDAR_SLAM

Velodyne-gazebo

< reference github link >


Index

1. Install

    ● LiDAR sensor: Velodyne

    ● robot model: champ-anymal_b

    ● LiDAR SLAM:

             1) LeGO-LOAM
             2) LIO-SAM

2. Applying Model

    ● sensor attachment to the robot model

3. Run



1. Install

  • installing Velodyne
$ cd <your_ws>/src
$ git clone https://bitbucket.org/DataspeedInc/velodyne_simulator.git
$ cd .. && catkin build -$(nproc)

  • installing robot model
    refer quad-legged

  • installing LiDAR-based SLAM

  • 1) LeGO-LOAM
    you have to install GTSAM ver. 4.0.3. Otherwise, it could produce some error

$ wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.3.zip
$ cd unzip gtsam.zip
$ cd ~/Downloads/gtsam-4.0.3/
$ mkdir build && cd build
$ cmake ..
$ sudo make install

$ sudo apt install -y libparmetis-dev
$ cd <your_ws>/src
$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
$ cd .. && catkin build -$(nproc)
$ source ./devel/setup.bash

< Trouble shooting >

  • removing GTSAM
    from here. GTSAM is not deleted in the normal way.
$ cd <your GTSAM build dir> && sudo xargs rm -rf < install_manifest.txt

  • 2) LIO-SAM
    install pre-requirities
$ sudo apt install -y ros-melodic-navigation
$ sudo apt install -y ros-melodic-robot-localization
$ sudo apt install -y ros-melodic-robot-state-publisher

# GTSAM ver. 4.0.2
$ wget -O ~/<your_ws>/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
$ cd ~/<your_ws> && unzip gtsam.zip
$ cd ~/<your_ws>/gtsam-4.0.2/
$ mkdir build && cd build
$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
$ sudo make install -j $(nproc)

install LIO-SAM

$ cd <your_ws>/src
$ git clone https://github.com/TixiaoShan/LIO-SAM.git
$ cd .. && catkin build -j $(nproc)
$ source ./devel/setup.bash

< Trouble shooting >

  • [imageProjection-4] process has died
    refer here.
    This is usually because the height and width of the sensor_msgs/PointCloud2 type, which is LiDAR data, are reversed. For example, to use LIO-SAM, the 'height=1' condition must be satisfied. Check it and if it's the opposite, make a ROS node and reverse it.



2. Applying Model

● This is done if you use my edited version as above install descriptions.

● LiDAR + IMU are loaded with the robot model, for running LIO-SAM.



3. Run

$ roslaunch lio_sam run.launch