SuperOdom 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 SuperOdom with HDMapping. This repository contains ROS 2 workspace that :

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

Dependencies

sudo apt install libgoogle-glog-dev libtbb-dev

Building

Clone the repo

mkdir -p ~/superodom_ws
cd ~/superodom_ws
git clone https://github.com/MapsHD/benchmark-SuperOdometry-to-HDMapping.git . --recursive
git submodule update --init --recursive
source /opt/ros/$ROS_DISTRO/setup.bash
colcon build
source install/setup.bash

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal launch odometry:

source install/setup.bash
ros2 launch super_odometry livox_mid360.launch.py

In second terminal play bag:

source install/setup.bash
ros2 bag play /path/to/your/bag.mcap --clock

In third terminal record bag:

source install/setup.bash
ros2 bag record /registered_scan /state_estimation -o my_recording --storage sqlite3

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):

source install/setup.bash
ros2 run superOdom-to-hdmapping listener my_recording output_hdmapping