Skip to content

RyuYamamoto/lidar_graph_slam

Repository files navigation

LiDAR Graph SLAM

InProgress

System OverView

overview

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive [email protected]:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.xml

3. save map

ros2 service call /save_map lidar_graph_slam_msgs/srv/SaveMap "{resolution: 0.2, path: "<MAP PATH>"}"

ToDo

  • graph based SLAM(loop detect)
  • save map
  • improve loop detection
  • implement other lidar odometry algorithm
  • use FPFH
  • use original KD-Tree