[SLAM] FAST_LIO_LC SLAM 개발 환경 세팅 (Ubunutu 20.04, ROS noetic)

💡 본 문서는 '[SLAM] FAST_LIO_LC SLAM 개발 환경 세팅 (Ubunutu 20.04, ROS noetic)'에 대해 정리해놓은 글입니다.
LIO 계열 SLAM을 설치하다 보면 많은 문제가 발생하곤 합니다. 환경 설정 밑 이를 실행하는 과정까지 정리하였으니 참고하시기 바랍니다.

1. About FAST_LIO_LC

What is FAST_LIO_LC?

A computationally efficient and robust LiDAR-inertial odometry package with loop closure module and graph optimization.

Required Sensors

• LIDAR [Velodyne, Ouster, Livox]
• IMU [6-AXIS, 9-AXIS]
• GPS [Optional]

ROS Compatibility

• ROS 1

Dependencies

• Ubunutu 20.04
• ROS noetic
• PCL >= 1.8, Follow PCL Installation.
• Eigen >= 3.3.4, Follow Eigen Installation.
• GTSAM >= 4.0.0, Follow GTSAM Installation.

Dependencies Check

$ dpkg -p libeigen3-dev
dpkg-query: package 'libeigen3-dev' is not available
$ pkg-config --modversion eigen3
3.3.7

$ dpkg -s libpcl-dev | grep 'Version'
Version: 1.10.0+dfsg-5ubuntu1

2. FAST_LIO_LC Setting & Build

Dependencies Install(GTSAM)

  wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
  cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
  cd ~/Downloads/gtsam-4.0.0-alpha2/
  mkdir build && cd build
  cmake -DGTSAM_USE_SYSTEM_EIGEN=ON ..
  sudo make install

CMake Library Linking (Boost)

set(Boost_USE_STATIC_LIBS OFF) 
set(Boost_USE_MULTITHREADED ON)  
set(Boost_USE_STATIC_RUNTIME OFF) 
find_package(Boost COMPONENTS serialization timer thread chrono)

include_directories(
  include
  ${catkin_INCLUDE_DIRS} 
  ${PCL_INCLUDE_DIRS}
  ${CERES_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${GTSAM_INCLUDE_DIR}
  ${Boost_INCLUDE_DIRS}
)
...
target_link_libraries(alaserPGO 
  ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES}
  ${OpenMP_CXX_FLAGS} ${Boost_INCLUDE_DIRS}
  gtsam
)

Build

  mkdir -p ~/ws_fastlio_lc/src
  cd ~/ws_fastlio_lc/src
  git clone https://github.com/yanliang-wang/FAST_LIO_LC
  cd ..
  catkin_make

3. FAST_LIO_LC Run

2) Set parameters

After downloading the repository, change topic and sensor settings on the config file (workspace/src/FAST_LIO_LC/FAST_LIO/config/ouster64_mulran.yaml) with the lidar topic name in your bag file.

For imu-lidar compatibility, extrinsic matrices from calibration must be changed.

To enable auto-save, pcd_save_enable must be 1 from the launch file (workspace/src/FAST_LIO_LC/FAST_LIO/launch/mapping_ouster64_mulran.launch).

3) Run

For Velodyne VLP-16

# open new terminal: run FAST-LIO
roslaunch fast_lio mapping_velodyne.launch

# open the other terminal tab: run SC-PGO
roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch

# play bag file in the other terminal
rosbag play RECORDED_BAG.bag --clock

For Ouster OS1-64

# open new terminal: run FAST-LIO
roslaunch fast_lio mapping_ouster64.launch

# open the other terminal tab: run SC-PGO
roslaunch aloam_velodyne fastlio_ouster64.launch

# play bag file in the other terminal
rosbag play RECORDED_BAG.bag --clock

Example Result

Other Examples

Example dataset

Check original repository link for example dataset.

Contact

Maintainer: Yanliang Wang (wyl410922@qq.com)

Acknowledgements

Thanks for FAST_LIO authors.

 

참고

• [Github] yanliang-wang/FAST_LIO_LC : https://github.com/yanliang-wang/FAST_LIO_LC
• [Autoware] FAST_LIO_LC;https://autowarefoundation.github.io/autoware-documentation/pr-366/how-to-guides/creating-maps-for-autoware/open-source-slam/fast-lio-lc/
•  [StackOverFlow] How to check the version number of Eigen C++ template library?: https://stackoverflow.com/questions/21497064/how-to-check-the-version-number-of-eigen-c-template-library
• [Blog] [Error Fix] Could not find a package configuration file provided by "GTSAM" with any of the following names(gtsam, Eigen): https://csj000714.tistory.com/917
• [Blog] [Error Fix] Solved '/usr/bin/ld: cannot find - lBoost::serialization' (Feat. LIO SLAM) : https://csj000714.tistory.com/921