MAD-ICP

Intended use

This small toolset allows to integrate SLAM solution provided by MAD-ICP with HDMapping. This repository contains workspace that :

• submodule to tested revision of MAD-ICP

Dependencies

pip install --upgrade pip setuptools wheel

Building

pip install mad-icp

Example:

Download the dataset from NTU-VIRAL For this example, download eee_03.

Convert(If it's a ROS1 .bag file):

rosbags-convert --src {your_downloaded_bag} --dst {desired_destination_for_the_converted_bag}

MAD-ICP LAUNCH

Changes:

Create new config file:

code  ~/.local/lib/python3.10/python3.10/site-packages/mad_icp/configurations/datasets/

Create a new file named

ntu-viral.cfg

Add the following content:

min_range : 1.3
max_range : 120
sensor_hz : 20
deskew : True
rosbag_topic : "/os1_cloud_node1/points"
lidar_to_base: 
  - [1, 0, 0, 0]
  - [0, 1, 0, 0]
  - [0, 0, 1, 0]
  - [0, 0, 0, 1]

Run MAD-ICP

~/.local/bin/mad_icp --data-path {path_for_rosbag2} --estimate-path {path_for_output} --dataset-config ~/.local/lib/python3.10/site-packages/mad_icp/configurations/datasets/ntu-viral.cfg