LiDAR Graph SLAM

InProgress

System OverView

1. Install

Build lidar_graph_slam

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recursive git@github.com:RyuYamamoto/lidar_graph_slam.git
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

2. run

ros2 launch lidar_graph_slam lidar_graph_slam.launch.xml

3. save map

ros2 service call /save_map lidar_graph_slam_msgs/srv/SaveMap "{resolution: 0.2, path: "<MAP PATH>"}"

ToDo

• graph based SLAM(loop detect)
• save map
• improve loop detection
• implement other lidar odometry algorithm
• use FPFH
• use original KD-Tree