dlio-converter

Intended use

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

• submodule to tested revision of dlio
• 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

Building

Clone the repo

mkdir -p /test_ws/src
cd /test_ws/src
git clone https://github.com/marcinmatecki/DLIO-to-hdmapping.git --recursive
cd ..
catkin_make

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /robot/dlio/odom_node/odom /robot/dlio/odom_node/pointcloud/deskewed

and start odometry:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch direct_lidar_inertial_odometry dlio.launch pointcloud_topic:=<pc_topic_name> imu_topic:=<imu_topic_name>
rosbag play <path_to_rosbag>

Usage - conversion:

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

Example:

Download the dataset from GitHub - ConSLAM or directly from this Google Drive link. Then, download sequence2.

Record the bag file:

rosbag record /robot/dlio/odom_node/odom /robot/dlio/odom_node/pointcloud/deskewed -O {your_directory_for_the_recorded_bag}

DLIO Launch:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch direct_lidar_inertial_odometry dlio.launch pointcloud_topic:=/pp_points/synced2rgb imu_topic:=/imu/data
rosbag play <path_to_rosbag>

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 ./devel/setup.sh # adjust to used shell
rosrun dlio-to-hdmapping listener <recorded_bag> <output_dir>