Skip to content

Latest commit

 

History

History
177 lines (156 loc) · 5.25 KB

How_to_implement_A_loam.md

File metadata and controls

177 lines (156 loc) · 5.25 KB
Raw

How to implement A loam

last update 2022 8.01 by kungsu kang.

1. A-loam install and run

  1. install dependence
# install dependence for ceres

sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev libgflags-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev

# Download ceres-solver and install

cd / && git clone --depth 1 --branch 1.14.0 https://ceres-solver.googlesource.com/ceres-solver 
  cd ceres-solver && mkdir build && cd build && cmake .. 
  make -j16 
  make -j16 all install 
  cd / \
  rm -rf /ceres-solver

- **~~PCL~~** : if you install ROS, PCL 1.8 is installed
<br/>

2. Download A-loam and install
input command line in terminal

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

<br/>

3. run after install complete (test Velodyne VLP_16)

input command line in terminal

roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch

run Velodyne VLP_16 in new terminal (see run Velodyne Document)

roslaunch velodyne_pointcloud VLP16_points.launch


## 2. kitti dataset Example

1. KITTI dataset Download [KITTI data](http://www.cvlibs.net/datasets/kitti/eval_odometry.php)
Download **odometry data set (grayscale, 22 GB)**, **odometry data set (velodyne laser data, 80 GB)**
<br/>

2. KITTI data set unzip and dataset folder reconstruction
If you want run a_loam using KITTI dataset, you must run kitti_helper.launch in a_loam.
kitti_helper can be read only when the dataset has a specific structure. so, you change dataset structure
 - unzip data_odometry_velodyne.zip. if you unzip at folder called data, file structure is as follows

data └── dataset └── sequences ├── 00 ├── 01 ├── 02 ... ├── 19 ├── 20 └── 21

- change name from dataset to velodyne

data └── velodyne └── sequences ├── 00 ├── 01 ├── 02 ... ├── 19 ├── 20 └── 21

- unzip data_odometry_gray.zip. file structure is as follows if unzip at folder called data

data ├── velodyne │ └── sequences │ ├── 00 │ ├── 01 │ ├── 02 │ ... │ ├── 19 │ ├── 20 │ └── 21 └── dataset └── sequences ├── 00 ├── 01 ├── 02 ... ├── 19 ├── 20 └── 21

- move velodyne into dataset folder. Such a structure is required so that the kitti_helper can read the file.

data └── dataset ├── sequences │ ├── 00 │ ├── 01 │ ├── 02 │ ... │ ├── 19 │ ├── 20 │ └── 21 └── velodyne └── sequences ├── 00 ├── 01 ├── 02 ... ├── 19 ├── 20 └── 21


5. kitti helper launch file change
- input command line in terminal

cd ~/catkin_ws/src/A-LOAM/launch gedit kitti_helper.launch

- when kitti_helper.launch opens, change value in \<param name="dataset_folder" type="string" value="/data/KITTI/odometry/" />.
The value set DATASET_FOLDER_LOCATION/dataset/
ex) \<param name="dataset_folder" type="string" value="/home/user/data/dataset/" />
<br/>

- **before change**
# chage this command line's value 
      <param name="sequence_number" type="string" value="00" />
      <param name="to_bag" type="bool" value="false" />
      <param name="output_bag_file" type="string" value="/tem/kitti.bag" />
      <param name="publish_delay" type="int" value="1" />
  </node>
```
  • after change (ex)
<launch>
    <node name="kittiHelper" pkg="aloam_velodyne" type="kittiHelper" output="screen">
        <param name="dataset_folder" type="string" value="/home/user/data/dataset/" />
        # set value DATASET_FOLDER_LOCATION/dataset/

        <param name="sequence_number" type="string" value="00" />
        <param name="to_bag" type="bool" value="false" />
        <param name="output_bag_file" type="string" value="/tem/kitti.bag" />
        <param name="publish_delay" type="int" value="1" />
    </node>
</launch>
  1. run a_loam and run kitti_helper
  • input command line in terminal
roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch
roslaunch aloam_velodyne kitti_helper.launch