CT-ICP 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

Dependecies

sudo apt install nlohmann-json3-dev
sudo apt install libssl-dev

For build

wget https://cmake.org/files/v3.20/cmake-3.20.5.tar.gz
tar -zxvf cmake-3.20.5.tar.gz
cd cmake-3.20.5
./bootstrap
make
sudo make install

Intended use

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

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

Building

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

cd ct-icp-to-hdmapping/src/ct_icp
mkdir .cmake-build-superbuild
cd .cmake-build-superbuild
cmake ../superbuild
cmake --build . --config Release

cd ..
mkdir cmake-build-release 
cd  cmake-build-release
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build . --target install --config Release --parallel 12

cd ..
cd ros/roscore
mkdir cmake-build-release && cd  cmake-build-release
cmake .. -DCMAKE_BUILD_TYPE=Release
cmake --build . --target install --config Release --parallel 12

cd /test_ws/
catkin_make -DSUPERBUILD_INSTALL_DIR=<path-to-superbuild-install-dir>

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /ct_icp/world_points /ct_icp/pose/odom

and start odometry:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch ct_icp_odometry urban_loco_CAL.launch rosbag:=<path_to_rosbag>

Usage - conversion:

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

Record the bag file:

rosbag record /ct_icp/world_points /ct_icp/pose/odom -o {your_directory_for_the_recorded_bag}

CT-ICP Launch:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch ct_icp_odometry urban_loco_CAL.launch rosbag:=<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 ct-icp-to-hdmapping listener <recorded_bag> <output_dir>