LeGO-LOAM converter to HDMapping

Hint

Please change branch to Bunker-DVI-Dataset-reg-1 for quick experiment.

Example Dataset:

Download the dataset from Bunker DVI Dataset

Intended use

This small toolset allows to integrate SLAM solution provided by LeGO-LOAM with HDMapping. This repository contains ROS 1 workspace that :

• submodule to tested revision of LeGO-LOAM
• a converter that listens to topics advertised from odometry node and save data in format compatible with HDMapping.

Dependencies

sudo apt install -y nlohmann-json3-dev

Modified for build

Reference issue:

RobustFieldAutonomyLab/LeGO-LOAM#257
catkin build fails -278

Changes made:

File:

test_ws/src/LeGO-LOAM-to-hdmapping/src/LeGO-LOAM/LeGO-LOAM/CMakeLists.txt

cmake
find_package(Boost REQUIRED COMPONENTS serialization thread timer chrono)

 Linked Boost libraries properly

link_directories(${Boost_LIBRARY_DIRS})
target_link_libraries(mapOptimization ${catkin_LIBRARIES} ${Boost_LIBRARIES})

Updated C++ standard

Replaced:

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")

With:

 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

File:

test_ws/src/LeGO-LOAM-to-hdmapping/src/LeGO-LOAM/LeGO-LOAM/include/utility.h

Changes made:

#include <opencv/cv.h> to #include <opencv2/opencv.hpp>

 Added  Eigen includes

#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Geometry>

## Building

Clone the repo
```shell
mkdir -p /test_ws/src
cd /test_ws/src
git clone https://github.com/MapsHD/benchmark-LeGO-LOAM-to-HDMapping.git --recursive
cd ..
catkin_make

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /registered_cloud /aft_mapped_to_init

and start odometry:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch lego_loam run.launch
rosbag play *.bag --clock --topic /velodyne_points /imu/data

Usage - conversion:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
rosrun lego-loam-to-hdmapping listener <recorded_bag> <output_dir>

Record the bag file:

rosbag record /registered_cloud /aft_mapped_to_init -O {your_directory_for_the_recorded_bag}

LeGO LOAM Launch:

cd /test_ws/
source ./install/setup.sh # adjust to used shell
roslaunch lego_loam run.launch

During the record (if you want to stop recording earlier) / after finishing the bag:

In the terminal where the ros record is, interrupt the recording by CTRL+C
Do it also in ros launch terminal by CTRL+C.

Usage - Conversion (ROS bag to HDMapping, after recording stops):

cd /test_ws/
source ./install/setup.sh # adjust to used shell
rosrun lego-loam-to-hdmapping listener <recorded_bag> <output_dir>