SLICT 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

Intended use

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

• submodule to tested revision of SLICT
• 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
sudo apt install python3-catkin-tools
sudo apt install libgflags-dev
sudo apt install libgoogle-glog-dev

livox_ros_driver

https://github.com/Livox-SDK/livox_ros_driver
https://github.com/Livox-SDK/livox_ros_driver2

Dependecies for Sophus and Ceres

cd ~
wget https://github.com/Kitware/CMake/releases/download/v3.24.0/cmake-3.24.0.tar.gz
tar -xzf cmake-3.24.0.tar.gz
sudo mv cmake-3.24.0 /opt
cd /opt/cmake-3.24.0
./bootstrap --prefix=/opt/cmake-3.24
make -j$(nproc)
sudo make install

cd ~
git clone https://gitlab.com/libeigen/eigen.git
sudo mv eigen /opt
cd /opt/eigen
git checkout 3.4.0
mkdir build && cd build
/opt/cmake-3.24/bin/cmake .. -DCMAKE_INSTALL_PREFIX=/opt/eigen-3.4
make -j$(nproc)
sudo make install

Ceres and Sophus

cd ~
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver && git fetch --all --tags
git checkout tags/2.1.0
mkdir build && cd build
/opt/cmake-3.24/bin/cmake .. \
  -DEigen3_DIR=/opt/eigen-3.4/share/eigen3/cmake
make -j$(nproc)
sudo make install

cd ~
git clone https://github.com/strasdat/Sophus
cd Sophus
mkdir build && cd build
/opt/cmake-3.24/bin/cmake .. \
  -DEigen3_DIR=/opt/eigen-3.4/share/eigen3/cmake
make -j$(nproc)
sudo make install

Building

Clone the repo

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

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /kfcloud /opt_odom

start odometry:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch slict run_mcdviral.launch bag_file:={path_to_the_bag}

Usage - conversion:

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

Record the bag file:

rosbag record /kfcloud /opt_odom -O {your_directory_for_the_recorded_bag}

SLICT Launch:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch slict run_ntuviral.launch bag_file:={path_to_the_bag}

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 slict-to-hdmapping listener <recorded_bag> <output_dir>