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SLAM-application: installation and test


● Results:

Single-LiDAR

Multi-LiDARs

  • video14: FAST-LIO-MULTI bundle update vs asynchronous update

Dependencies

  • Common packages
$ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher
  • GTSAM for LVI-SAM and LIO-SAM
$ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
$ unzip gtsam.zip
$ cd gtsam-4.0.2/
$ mkdir build && cd build
$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
$ sudo make install -j8
$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz #LVI-SAM
$ wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz #SLAMesh, SLICT1.0
$ tar zxf ceres-solver-1.14.0.tar.gz #LVI-SAM
$ tar zxf ceres-solver-2.1.0.tar.gz #SLAMesh, SLICT1.0
$ mkdir ceres-bin
$ mkdir solver && cd ceres-bin
$ cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver"  #good for build without being root privileged and at wanted directory
$ make -j8 # 8 : number of cores
$ make test
$ make install
  • glog, g++-9 and gcc-9 for Faster-LIO
$ sudo apt-get install libgoogle-glog-dev
$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt update
$ sudo apt install gcc-9 g++-9
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9

Note: When Ouster-ros package cannot be built with gcc and g++ with the version higher than 6,

  • When building ouster-ros,
catkin b -DCMAKE_C_COMPILER=gcc-6 -DCMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release
  • CGAL and pcl-tools for R3LIVE
$ sudo apt install libcgal-dev pcl-tools

Optionally,
$ sudo apt install meshlab

Installation

● LeGO-LOAM

$ cd ~/your_workspace/src
$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● LIO-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LIO-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● LVI-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LVI-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for LVI-SAM

  • for OpenCV 4.X, edit LVI-SAM/src/visual_odometry/visual_loop/ThirdParty/DVision/BRIEF.cpp:53
// cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);

● FAST-LIO2

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/FAST_LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Faster-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ tar -xvf tbb2018_20170726oss_lin.tgz

$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss -DCMAKE_BUILD_TYPE=Release

● Faster-LIO on ARM architecture (e.g., Jetson Xavier)

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ git clone https://github.com/syoyo/tbb-aarch64
$ cd tbb-aarch64
$ ./scripts/bootstrap-aarch64-linux.sh
$ cd build-aarch64
$ make && make install

$ gedit faster-lio/cmake/packages.cmake

Edit line 13 as:
    #set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib/intel64/gcc4.7")
    set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib")


$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb-aarch64/dist -DCMAKE_BUILD_TYPE=Release

● VoxelMap

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ git clone https://github.com/hku-mars/VoxelMap.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for VoxelMap

  • /usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ ...
    • You could meet this error in ROS-melodic. Fix as here
$ sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
$ sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

$ sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
$ sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

● R3LIVE

$ cd ~/your_workspace/src
$ git clone https://github.com/hku-mars/r3live.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for R3LIVE

  • LiDAR incoming frame too old ...
    • Original Livox-ros-driver does not publish the data with ROS timestamp, but LiDAR time.
    • So, use modified livox-ros-driver here
    • If that does not solve the problem, edit lddc.cpp yourself, line 563:
    //livox_msg.header.stamp = ros::Time((timestamp - init_lidar_tim - packet_offset_time )  / 1e9 + init_ros_time);
  livox_msg.header.stamp = ros::Time::now();
  /**************** Modified for R2LIVE **********************/
  ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);
  if (kOutputToRos == output_type_)
  {
    p_publisher->publish(livox_msg);
  }

● How to properly set configuration for R3LIVE

  • Camera calibration - use Kalibr or camera_calibration
    • Kalibr - refer original repo
    • camera_calibration - use as here
  • Lidar-Camera calibration
    • Other spinning LiDARs are not supported yet (for RGB mapping), but try to use lidar_camera_calibration repo, if you want to.
    • For LiVOX LiDAR, use livox_camera_calib repo
      • Record a bag file of LiVOX LiDAR data and capture the image from RGB camera you use.
      • Convert a bag file into a PCD file with (change directories in the launch file):
      $ roslaunch livox_camera_calib bag_to_pcd.launch
      • Then, calibrate LiDAR and camera as (change directories in the launch and config files):
      $ roslaunch livox_camera_calib calib.launch

★Note: extrinsic rotational parameter from livox_camera_calib should be transposed in the r3live_config.yaml file. Refer my extrinsic result and r3live config file


Left: Target image. Right: Target PCD


Left: calibrated image and residuals. Right: calibrated image


Sensor configuration of mine: Pixhawk4 mini as an IMU, FLIR Blackfly S USB3 (BFS-U3-23S3C-C), LiVOX MID-70


● Point-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/Point-LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● KISS-ICP (ROS1)

$ cd ~/your_workspace/src
$ git clone https://github.com/PRBonn/kiss-icp.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● DLO

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● DLIO

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● PV-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/HViktorTsoi/PV-LIO
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● SLAMesh

$ sudo apt-get install build-essential cmake cmake-curses-gui libflann-dev libgsl-dev libeigen3-dev libopenmpi-dev \
     openmpi-bin opencl-c-headers ocl-icd-opencl-dev libboost-all-dev libopencv-dev libyaml-cpp-dev \
     freeglut3-dev libhdf5-dev qtbase5-dev qt5-default libqt5opengl5-dev liblz4-dev

# Ubuntu 18.04
$ sudo apt-get install libvtk6-dev libvtk6-qt-dev
# Ubuntu 20.04
$ sudo apt-get install libvtk7-dev libvtk7-qt-dev

$ git clone https://github.com/uos/lvr2.git
$ cd lvr2 
$ mkdir build && cd build
$ cmake .. && make
$ sudo make install

$ cd ~/your_workspace/src
$ git clone https://github.com/naturerobots/mesh_tools.git
$ git clone https://github.com/RuanJY/SLAMesh.git
$ cd..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for SLAMesh

  • With Ceres >= 2.0 version and OpenCV 4.X version, ceres.solve can occur error
  • Delete OpenCV dependency in CMakeLists.txt
#target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})
target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})

● ImMesh

$ sudo apt-get install ros-noetic-cv-bridge ros-noetic-tf ros-noetic-message-filters ros-noetic-image-transport*
$ sudo apt-get install -y libcgal-dev pcl-tools libgl-dev libglm-dev libglfw3-dev libglew-dev libglw1-mesa-dev libxkbcommon-x11-dev
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/hku-mars/ImMesh
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for ImMesh

  • Use Ubuntu >= 20.04. Otherwise, CGAL version issue will bother you.

Installation (Multi-LiDARs)

● FAST-LIO-MULTI

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/engcang/FAST_LIO_MULTI --recursive
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● SLICT1.0

  • It need Ceres >= 2.1.0
sudo apt install libsuitesparse-dev libtbb-dev
sudo apt install ros-noetic-tf2-sensor-msgs ros-noetic-tf-conversions
sudo apt install libatlas-base-dev libeigen3-dev libgoogle-glog-dev
sudo apt install python3-wstool python3-catkin-tools python3-osrf-pycommon

cd workspace_1
git clone https://github.com/Livox-SDK/Livox-SDK
cd Livox-SDK/build
cmake .. && sudo make install -j12

cd workspace_1
git clone https://github.com/Livox-SDK/Livox-SDK2
cd Livox-SDK2 && mkdir build && cd build
cmake .. && sudo make install -j12

cd workspace_1/src
git clone https://github.com/livox-SDK/livox_ros_driver
git clone https://github.com/livox-SDK/livox_ros_driver2
cd livox_ros_driver2
./build.sh ROS1


>>> Make chained workspace, it will be good for your mental health
>>> because of livox_ros_driver2
cd workspace_2
source workspace_1/devel/setup.bash

cd workspace_2/src
git clone https://github.com/brytsknguyen/ufomap 
cd ufomap && git checkout devel_surfel

cd workspace_2/src
wget https://github.com/brytsknguyen/slict/archive/refs/tags/slict.1.0.tar.gz
tar -zxf slict.1.0.tar.gz
cd ..
catkin build

● MA-LIO

cd workspace/src
git clone https://github.com/minwoo0611/MA-LIO.git
cd..
catkin build

● Trouble shooting for MA-LIO

  • If you get PCL error, just comment the find_package in MA_LIO/CMakeLists.txt
#before
find_package(PCL 1.8 REQUIRED)
#after
#find_package(PCL 1.8 REQUIRED)
  • You might have to fix the laserMapping.cpp file's uncertainty calculation part
// before
...
// for (int i = 0; i < (int)kf.lidar_uncertainty[num].size() - 1; i++)
...
// for (int i = 0; i < (int)kf.lidar_uncertainty[num].size() - 1; i++)

// after
...
for (int i = 0; i < (int)kf.lidar_uncertainty[num].size(); i++)
...
for (int i = 0; i < (int)kf.lidar_uncertainty[num].size(); i++)

● LOCUS2.0

sudo apt-get install ros-noetic-catkin python3-catkin-tools
sudo apt-get install ros-noetic-pcl-ros
sudo apt install ros-noetic-tf2-sensor-msgs ros-noetic-tf2-geometry-msgs ros-noetic-eigen-conversions

cd workspace/src
git clone https://github.com/NeBula-Autonomy/LOCUS.git
git clone https://github.com/NeBula-Autonomy/common_nebula_slam.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● M-LOAM - Thanks to Chanjoon

  • It need Ceres >= 2.1.0
sudo apt install libomp-dev
cd workspace/src
git clone https://github.com/gogojjh/M-LOAM.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for M-LOAM

  • If you get pcl_conversion error, just comment them in src/rosXXX.cpp
// #include <pcl/ros/conversions.h>
  • If you get cv error in kittiHelper.cpp, fix them as:
// cv::Mat left_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);
// cv::Mat right_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);
cv::Mat left_image = cv::imread(left_image_path.str(), cv::IMREAD_GRAYSCALE);
cv::Mat right_image = cv::imread(left_image_path.str(), cv::IMREAD_GRAYSCALE);
  • You will get segmentation fault right after running the code, fix M-LOAM/estimator/src/imageSegmenter/image_segmenter.hpp
// before
//dist = sqrt(d1 * d1 + d2 * d2 - 2 * d1 * d2 * cos(alpha));
//alpha = iter->first == 0 ? segment_alphax_ : segment_alphay_;

// after (order matters)
alpha = iter->first == 0 ? segment_alphax_ : segment_alphay_;
dist = sqrt(d1 * d1 + d2 * d2 - 2 * d1 * d2 * cos(alpha));

// before
//cloud_scan[i].erase(cloud_scan[i].begin() + cloud_scan_order[index]);
//if (j % 5 == 0)
//    laser_cloud_outlier.push_back(cloud_matrix.points[index]);

// after
if (cloud_scan_order[index] >= 0 && cloud_scan_order[index] < cloud_scan[i].size())
{
    cloud_scan[i].erase(cloud_scan[i].begin() + cloud_scan_order[index]);
    if (j % 5 == 0)
        laser_cloud_outlier.push_back(cloud_matrix.points[index]);
}

How to run

● check each of config files and launch files in the folders of this repo

Trouble shooting for Gazebo Velodyne plugin

  • When using CPU ray, instead of GPU ray, height - width should be interchanged, I used this script file