open3d_slam_private

This project provides tools for robot LiDAR-based mapping and localization.

This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.

Build

For now to build this repository, you need to:

1. make sure CMake version is correct
2. install dependencies from open3d_catkin
3. install dependencies for open3d_slam

Clone the repository to:

cd catkin_ws/src
git clone git@github.com:leggedrobotics/open3d_slam_private.git

1. Make sure your CMake > 3.18

cmake --version

If NOT install the cmake from https://cmake.org/download download tar. Unpack tar and

cd cmake-<version>
./configure
make -j<num_of_processes>
sudo make install

2. Install the necessary dependencies from open3d_catkin:

cd open_3d_slam_rsl/open3d_catkin/
./install_deps.sh

3. Install libraries required from open3d-slam

sudo apt install libgoogle-glog-dev libglfw3 libglfw3-dev liblua5.2-dev

4. Install message_logger from Anybotics (Temporary) by cloning it to catkin_ws/src

git clone git@github.com:ANYbotics/message_logger.git

And finally:

cd catkin_ws
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build

Use

source devel/setup.sh

To perform mapping, call:

roslaunch open3d_slam_ros mapping.launch

While playing the rosbag file:

rosbag play --clock --pause -s 0 -r 1.0 <your_great_bag>.bag

Make sure you have correct topics for lidar point clouds and odometry.