GLIM-converter

Intended use

This small toolset allows to integrate SLAM solution provided by GLIM with HDMapping. This repository contains ROS 2 workspace that :

• submodule to tested revision of GLIM
• 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

Documentation

https://koide3.github.io/glim/

To install the common dependencies needed for GLIM, follow the instructions provided in the official documentation:

https://koide3.github.io/glim/installation.html

Quick Start

This section provides a quick guide to run the project, including example configuration changes and launch instructions.

https://koide3.github.io/glim/quickstart.html

Building

Clone the repo

mkdir -p /test_ws/src
cd /test_ws/src
git clone https://github.com/marcinmatecki/GLIM-to-HDMapping.git --recursive
cd ..
colcon build

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

ros2 bag record /glim_ros/aligned_points_corrected /glim_ros/odom_corrected

and start odometry:

cd /test_ws/
source ./install/setup.sh # adjust to used shell
ros2 run glim_ros glim_rosbag <path_to_rosbag>

Usage - conversion:

cd /test_ws/
source ./install/setup.sh # adjust to used shell
ros2 run glim-to-hdmapping listener <recorded_bag> <output_dir>

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}

Record the bag file:

ros2 bag record /glim_ros/aligned_points_corrected /glim_ros/odom_corrected {your_directory_for_the_recorded_bag}

To use this bag file, you need to update the IMU and point cloud topics in:

src/GLIM-to-HDMapping/src/glim/config/config_ros.json

Changes:

  Topics:
    "imu_topic": "/os1_cloud_node1/imu",
    "points_topic": "/os1_cloud_node1/points",
    "image_topic": "/image",

GLIM Launch:

cd /test_ws/
source ./install/setup.sh # adjust to used shell
ros2 run glim_ros glim_rosbag {path_to_bag_file} 

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
ros2 run glim-to-hdmapping listener <recorded_bag> <output_dir>