iG-LIO converter to HDMapping

Hint

Please change branch to Bunker-DVI-Dataset-reg-1 for quick experiment.

Dependecies

sudo apt install nlohmann-json3-dev

Intended use

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

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

Modify

src/ig_lio/config/ncd.yaml

lidar_topic: /os1_cloud_node/points
imu_topic: /os1_cloud_node/imu

to:

lidar_topic: /os1_cloud_node1/points
imu_topic: /os1_cloud_node1/imu

Building

mkdir -p /test_ws/src
cd /test_ws/src
git clone https://github.com/marcinmatecki/iG-LIO-to-HDMapping.git --recursive
cd ..
catkin_make

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /current_scan /lio_odom

and start odometry:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch ig_lio lio_ncd.launch 
rosbag play {path_to_bag}

Usage - conversion:

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

Record the bag file:

rosbag record /current_scan /lio_odom -o {your_directory_for_the_recorded_bag}

ig LIO Launch:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch ig_lio lio_ncd.launch
rosbag play {path_to_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 ig-lio-to-hdmapping listener <recorded_bag> <output_dir>