open3d_slam_advanced_rss_2024_public

This project provides tools for robot LiDAR-based mapping and localization.

This is an advanced and fine-tuned version of open3d_slam and subject to it's license.

Build

For now to build this repository, you need to:

1. make sure CMake version is correct
2. install dependencies from open3d_catkin
3. install dependencies for open3d_slam

Clone the repository to:

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone git@github.com:ETHZ-RobotX/open3d_slam_advanced_rss_2024_public.git

1. Make sure your CMake > 3.18

cmake --version

If NOT install the cmake from https://cmake.org/download download tar. Unpack tar and

cd cmake-<version>
./configure
make -j<num_of_processes>
sudo make install

2. Install the necessary dependencies from open3d_catkin:

cd open_3d_slam_rsl/open3d_catkin/
./install_deps.sh

3. Install libraries required from open3d-slam

sudo apt install libgoogle-glog-dev libglfw3 libglfw3-dev liblua5.2-dev

4. Install libnabo from Anybotics by cloning it to catkin_ws/src. Please don't install it with Debians.

cd catkin_ws/src
git clone git@github.com:ANYbotics/libnabo.git

And finally:

cd catkin_ws
catkin init
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build open3d_slam_ros

Use

First, make sure you have the correct topics for the LiDAR point cloud and pose prior external odometry. Make sure to enter the tracked frame of the external odometry correctly.

source devel/setup.sh

To perform mapping and localization, call:

roslaunch open3d_slam_ros development.launch

While playing the rosbag file:

rosbag play --clock --pause -s 0 -r 1.0 <your_great_bag>.bag

License

The external repositories used in this work are under their respective licenses.

https://github.com/ANYbotics/libpointmatcher , https://github.com/ANYbotics/pointmatcher-ros and https://github.com/ANYbotics/libnabo