New Feature

------------------- Update Date: 2022-11-20 -------------------

• This version has removed the feature extraction module, making it easier to adapt to different lidars;

• Support 'robosense' lidar and Mulran datasets, make the following changes in "*.yaml":

  • sensor: “robosense” or sensor: “mulran”

• Support 6-axis IMU, make the following changes in "*.yaml":

  • imuType: 0 # 0: 6-axis IMU, 1: 9-axis IMU

• Support low frequency IMU（50HZ、100HZ）, make the following changes in "*.yaml":

  • imuRate: 500

------------------- Update Date: 2022-12-13 -------------------

• Re-derivation the LM optimization, don't need coordinate transformation.

------------------- Update Date: 2022-12-24 -------------------

• Modified gps factor, no longer depending on the 'robot_localization' package, and make it easier to adapt to different gnss device(RTK/GPS).

• The gps factor is modified to make it easier to adapt to gnss devices with different frequencies(10HZ~500HZ).

------------------- Update Date: 2023-02-11 -------------------

• Add scancontext loop closure detection;

• Support M2DGR dataset.

------------------- Update Date: 2024-04-29 -------------------

• Add liorf ROS2 version (Foxy、Galactic).

Blog：LIO-SAM：配置环境、安装测试、适配自己采集数据集

Video：基于LIO-SAM框架SLAM算法开发系列视频

Dependency

• gtsam(Georgia Tech Smoothing and Mapping library)

    sudo add-apt-repository ppa:borglab/gtsam-release-4.0
    sudo apt install libgtsam-dev libgtsam-unstable-dev
  

• Others

    sudo apt install libgeographic-dev
  

Install

1. Use the following commands to download and compile the package.

  mkdir -p ~/liorf-ros2/src && cd ~/liorf-ros2/src
  git clone https://github.com/YJZLuckyBoy/liorf.git
  cd liorf && git checkout liorf-ros2
  cd ../../
  colcon build

Run the package

1. Run the launch file

  source install/setup.bash
  ros2 launch liorf run_lio_sam_default.launch.py

2. Play existing bag files. Example data in ROS2 format can be downloaded here (lio-sam-dataset with ros2 format)

  ros2 bag play casual_walk/

For fusion gps factor

• Make sure your gnss topic type is 'sensor_msgs::msg::NavSatFix';

• Modify 'gpsTopic' paramter in '*.yaml' with yourself gnss topic;

    gpsTopic: "gps/fix"    # GPS topic
  

• If you want to use liorf with integrated gps factor in kitti dataset, you can use the modified python script in "config/doc/kitti2bag" to obtain high-frequency gps data(Rate: 100HZ, Topic: '/gps/fix/correct'). About how to use "kitti2bag.py", please refer to doc/kitti2bag. This will generate a BAG package in ROS1 format, You need to convert it to the BAG package in ROS2 format, Please refer to the conversion method ros2 to ros1.

Mapping

Performance

Acknowledgments

Thanks for LIO-SAM, FAST_LIO2, UrbanNavDataset, M2DGR and MulRanDataset.