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Livox_mapping

Livox_mapping is a mapping package for Livox LiDARs. The package currently contains the basic functions of low-speed mapping.

<div align="center"> <img src="doc/results/mid40_hall.gif" width = 45% > <img src="doc/results/horizon_parking.gif" width = 45% > </div>

Some key issues:

  1. Support multiple livox lidar;
  2. Different feature extraction;
  3. Remove odometry for small FOV situation;

In the development of our package, we reference to LOAM, LOAM_NOTED.

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

1.2. PCL && Eigen && openCV

Follow PCL Installation. Follow Eigen Installation. Follow openCV Installation.

1.3. livox_ros_driver

Follow livox_ros_driver Installation.

2. Build

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/Livox-SDK/livox_mapping.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

Remarks:

3. Directly run

3.1 Livox Mid-40

Connect to your PC to Livox LiDAR (mid40) by following Livox-ros-driver installation, then

    ....
    roslaunch livox_mapping mapping_mid.launch
    roslaunch livox_ros_driver livox_lidar.launch

3.2 Livox Horizon

Connect to your PC to Livox LiDAR (Horizon) by following Livox-ros-driver installation, then

    ....
    roslaunch livox_mapping mapping_horizon.launch
    roslaunch livox_ros_driver livox_lidar_msg.launch

4. Rosbag Example

4.1 Livox Mid-40 rosbag

<div align="center"><img src="doc/results/mid40_hall_01.png" width=90% /></div> <div align="center"><img src="doc/results/mid40_outdoor.png" width=90% /></div>

Download mid40_hall_example or mid40_outdoor and then

roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag

4.2 Livox Mid-100 rosbag

<div align="center"><img src="doc/results/mid100_01.png" width=90% /></div> <div align="center"><img src="doc/results/mid100_02.png" width=90% /></div>

Download mid100_example and then

roslaunch livox_mapping mapping_mid.launch
rosbag play YOUR_DOWNLOADED.bag

4.3 Livox Horizon rosbag

<div align="center"><img src="doc/results/horizon_outdoor_01.png" width=90% /></div> <div align="center"><img src="doc/results/horizon_parking_01.png" width=90% /></div>

Download horizon_parking or horizon_outdoor and then

roslaunch livox_mapping mapping_horizon.launch
rosbag play YOUR_DOWNLOADED.bag

5.Acknowledgments

Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), LOAM_NOTED.