SLAM-application: installation and test

3D, single-LiDAR: LeGO-LOAM, LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, DLO, PV-LIO, SLAMesh, and ImMesh
3D, multi-LiDARs: FAST-LIO-MULTI, M-LOAM, LOCUS2.0, SLICT1.0, and MA-LIO

● Results:

Single-LiDAR

video: Lego-LOAM vs LIO-SAM vs LVI-SAM
video2: LIO-SAM vs LVI-SAM
video3: LIO-SAM vs FAST-LIO2
video4: FAST-LIO2 vs Livox-mapping vs LOAM-Livox using Livox Mid-70 LiDAR, real-world
video5: FAST-LIO2 in the building with narrow stairs using Ouster OS0-128, real-world
video6: FAST-LIO2 in the narrow tunnels using Ouster OS0-128 on the UAV (drone)
video7: Faster-LIO vs FAST-LIO in the building with narrow stairs using Ouster OS0-128, real-world
video8: VoxelMap in the building using Intel Realsense L515, real-world
video9: R3LIVE in the building and around the building using Livox Mid-70 LiDAR, FLIR Blackfly S, Pixhawk4 mini, real-world
video10: FAST-LIO2 vs Ada-LIO vs Point-LIO vs KISS-ICP in the building with narrow stairs, real-world
video11: FAST-LIO2 vs Ada-LIO in Gazebo challenging environments
video12: DLO vs FAST-LIO2
video13: DLO vs DLIO vs Ada-LIO vs FAST-LIO2
video15: Ada-LIO vs PV-LIO vs SLAMesh
video16: Ada-LIO vs PV-LIO
video17: Ada-LIO vs ImMesh

Multi-LiDARs

video14: FAST-LIO-MULTI bundle update vs asynchronous update

Dependencies

Common packages

$ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher

GTSAM for LVI-SAM and LIO-SAM

$ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
$ unzip gtsam.zip
$ cd gtsam-4.0.2/
$ mkdir build && cd build
$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
$ sudo make install -j8

Ceres solver for LVI-SAM, SLAMesh, and SLICT1.0

$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz #LVI-SAM
$ wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz #SLAMesh, SLICT1.0
$ tar zxf ceres-solver-1.14.0.tar.gz #LVI-SAM
$ tar zxf ceres-solver-2.1.0.tar.gz #SLAMesh, SLICT1.0
$ mkdir ceres-bin
$ mkdir solver && cd ceres-bin
$ cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver"  #good for build without being root privileged and at wanted directory
$ make -j8 # 8 : number of cores
$ make test
$ make install

glog, g++-9 and gcc-9 for Faster-LIO

$ sudo apt-get install libgoogle-glog-dev
$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt update
$ sudo apt install gcc-9 g++-9
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9

Note: When `Ouster-ros` package cannot be built with `gcc` and `g++` with the version higher than 6,

When building ouster-ros,

catkin b -DCMAKE_C_COMPILER=gcc-6 -DCMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release

CGAL and pcl-tools for R3LIVE

$ sudo apt install libcgal-dev pcl-tools

Optionally,
$ sudo apt install meshlab

Installation

● LeGO-LOAM

$ cd ~/your_workspace/src
$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● LIO-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LIO-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● LVI-SAM

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LVI-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for LVI-SAM

for OpenCV 4.X, edit LVI-SAM/src/visual_odometry/visual_loop/ThirdParty/DVision/BRIEF.cpp:53

// cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);

● FAST-LIO2

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/FAST_LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Faster-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ tar -xvf tbb2018_20170726oss_lin.tgz

$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss -DCMAKE_BUILD_TYPE=Release

● Faster-LIO on `ARM` architecture (e.g., Jetson Xavier)

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ git clone https://github.com/syoyo/tbb-aarch64
$ cd tbb-aarch64
$ ./scripts/bootstrap-aarch64-linux.sh
$ cd build-aarch64
$ make && make install

$ gedit faster-lio/cmake/packages.cmake

Edit line 13 as:
    #set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib/intel64/gcc4.7")
    set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib")


$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb-aarch64/dist -DCMAKE_BUILD_TYPE=Release

● VoxelMap

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ git clone https://github.com/hku-mars/VoxelMap.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for VoxelMap

/usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ ...
- You could meet this error in ROS-melodic. Fix as here

$ sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
$ sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

$ sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
$ sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

● R3LIVE

$ cd ~/your_workspace/src
$ git clone https://github.com/hku-mars/r3live.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for R3LIVE

LiDAR incoming frame too old ...

Original Livox-ros-driver does not publish the data with ROS timestamp, but LiDAR time.
So, use modified livox-ros-driver here
If that does not solve the problem, edit lddc.cpp yourself, line 563:

//livox_msg.header.stamp = ros::Time((timestamp - init_lidar_tim - packet_offset_time )  / 1e9 + init_ros_time);
  livox_msg.header.stamp = ros::Time::now();
  /**************** Modified for R2LIVE **********************/
  ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);
  if (kOutputToRos == output_type_)
  {
    p_publisher->publish(livox_msg);
  }

● How to properly set configuration for R3LIVE

Camera calibration - use Kalibr or camera_calibration
- Kalibr - refer original repo
- camera_calibration - use as here
Lidar-Camera calibration
- Other spinning LiDARs are not supported yet (for RGB mapping), but try to use lidar_camera_calibration repo, if you want to.
- For LiVOX LiDAR, use livox_camera_calib repo
  - Record a bag file of LiVOX LiDAR data and capture the image from RGB camera you use.
  - Convert a bag file into a PCD file with (change directories in the launch file):
```
$ roslaunch livox_camera_calib bag_to_pcd.launch
```
  - Then, calibrate LiDAR and camera as (change directories in the launch and config files):
```
$ roslaunch livox_camera_calib calib.launch
```

★Note: extrinsic rotational parameter from `livox_camera_calib` should be transposed in the `r3live_config.yaml` file. Refer my extrinsic result and r3live config file

Left: Target image. Right: Target PCD

Left: calibrated image and residuals. Right: calibrated image

Sensor configuration of mine: Pixhawk4 mini as an IMU, FLIR Blackfly S USB3 (BFS-U3-23S3C-C), LiVOX MID-70

● Point-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/Point-LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● KISS-ICP (ROS1)

$ cd ~/your_workspace/src
$ git clone https://github.com/PRBonn/kiss-icp.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● DLO

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● DLIO

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_inertial_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● PV-LIO

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/HViktorTsoi/PV-LIO
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● SLAMesh

$ sudo apt-get install build-essential cmake cmake-curses-gui libflann-dev libgsl-dev libeigen3-dev libopenmpi-dev \
     openmpi-bin opencl-c-headers ocl-icd-opencl-dev libboost-all-dev libopencv-dev libyaml-cpp-dev \
     freeglut3-dev libhdf5-dev qtbase5-dev qt5-default libqt5opengl5-dev liblz4-dev

# Ubuntu 18.04
$ sudo apt-get install libvtk6-dev libvtk6-qt-dev
# Ubuntu 20.04
$ sudo apt-get install libvtk7-dev libvtk7-qt-dev

$ git clone https://github.com/uos/lvr2.git
$ cd lvr2 
$ mkdir build && cd build
$ cmake .. && make
$ sudo make install

$ cd ~/your_workspace/src
$ git clone https://github.com/naturerobots/mesh_tools.git
$ git clone https://github.com/RuanJY/SLAMesh.git
$ cd..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for SLAMesh

With Ceres >= 2.0 version and OpenCV 4.X version, ceres.solve can occur error
Delete OpenCV dependency in CMakeLists.txt

#target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})
target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})

● ImMesh

$ sudo apt-get install ros-noetic-cv-bridge ros-noetic-tf ros-noetic-message-filters ros-noetic-image-transport*
$ sudo apt-get install -y libcgal-dev pcl-tools libgl-dev libglm-dev libglfw3-dev libglew-dev libglw1-mesa-dev libxkbcommon-x11-dev
$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/hku-mars/ImMesh
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for ImMesh

Use Ubuntu >= 20.04. Otherwise, CGAL version issue will bother you.

Installation (Multi-LiDARs)

● FAST-LIO-MULTI

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver
$ git clone https://github.com/engcang/FAST_LIO_MULTI --recursive
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● SLICT1.0

It need Ceres >= 2.1.0

sudo apt install libsuitesparse-dev libtbb-dev
sudo apt install ros-noetic-tf2-sensor-msgs ros-noetic-tf-conversions
sudo apt install libatlas-base-dev libeigen3-dev libgoogle-glog-dev
sudo apt install python3-wstool python3-catkin-tools python3-osrf-pycommon

cd workspace_1
git clone https://github.com/Livox-SDK/Livox-SDK
cd Livox-SDK/build
cmake .. && sudo make install -j12

cd workspace_1
git clone https://github.com/Livox-SDK/Livox-SDK2
cd Livox-SDK2 && mkdir build && cd build
cmake .. && sudo make install -j12

cd workspace_1/src
git clone https://github.com/livox-SDK/livox_ros_driver
git clone https://github.com/livox-SDK/livox_ros_driver2
cd livox_ros_driver2
./build.sh ROS1


>>> Make chained workspace, it will be good for your mental health
>>> because of livox_ros_driver2
cd workspace_2
source workspace_1/devel/setup.bash

cd workspace_2/src
git clone https://github.com/brytsknguyen/ufomap 
cd ufomap && git checkout devel_surfel

cd workspace_2/src
wget https://github.com/brytsknguyen/slict/archive/refs/tags/slict.1.0.tar.gz
tar -zxf slict.1.0.tar.gz
cd ..
catkin build

● MA-LIO

cd workspace/src
git clone https://github.com/minwoo0611/MA-LIO.git
cd..
catkin build

● Trouble shooting for MA-LIO

If you get PCL error, just comment the find_package in MA_LIO/CMakeLists.txt

#before
find_package(PCL 1.8 REQUIRED)
#after
#find_package(PCL 1.8 REQUIRED)

You might have to fix the laserMapping.cpp file's uncertainty calculation part

// before
...
// for (int i = 0; i < (int)kf.lidar_uncertainty[num].size() - 1; i++)
...
// for (int i = 0; i < (int)kf.lidar_uncertainty[num].size() - 1; i++)

// after
...
for (int i = 0; i < (int)kf.lidar_uncertainty[num].size(); i++)
...
for (int i = 0; i < (int)kf.lidar_uncertainty[num].size(); i++)

● LOCUS2.0

sudo apt-get install ros-noetic-catkin python3-catkin-tools
sudo apt-get install ros-noetic-pcl-ros
sudo apt install ros-noetic-tf2-sensor-msgs ros-noetic-tf2-geometry-msgs ros-noetic-eigen-conversions

cd workspace/src
git clone https://github.com/NeBula-Autonomy/LOCUS.git
git clone https://github.com/NeBula-Autonomy/common_nebula_slam.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● M-LOAM - Thanks to Chanjoon

It need Ceres >= 2.1.0

sudo apt install libomp-dev
cd workspace/src
git clone https://github.com/gogojjh/M-LOAM.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for M-LOAM

If you get pcl_conversion error, just comment them in src/rosXXX.cpp

// #include <pcl/ros/conversions.h>

If you get cv error in kittiHelper.cpp, fix them as:

// cv::Mat left_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);
// cv::Mat right_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);
cv::Mat left_image = cv::imread(left_image_path.str(), cv::IMREAD_GRAYSCALE);
cv::Mat right_image = cv::imread(left_image_path.str(), cv::IMREAD_GRAYSCALE);

You will get segmentation fault right after running the code, fix M-LOAM/estimator/src/imageSegmenter/image_segmenter.hpp

// before
//dist = sqrt(d1 * d1 + d2 * d2 - 2 * d1 * d2 * cos(alpha));
//alpha = iter->first == 0 ? segment_alphax_ : segment_alphay_;

// after (order matters)
alpha = iter->first == 0 ? segment_alphax_ : segment_alphay_;
dist = sqrt(d1 * d1 + d2 * d2 - 2 * d1 * d2 * cos(alpha));

// before
//cloud_scan[i].erase(cloud_scan[i].begin() + cloud_scan_order[index]);
//if (j % 5 == 0)
//    laser_cloud_outlier.push_back(cloud_matrix.points[index]);

// after
if (cloud_scan_order[index] >= 0 && cloud_scan_order[index] < cloud_scan[i].size())
{
    cloud_scan[i].erase(cloud_scan[i].begin() + cloud_scan_order[index]);
    if (j % 5 == 0)
        laser_cloud_outlier.push_back(cloud_matrix.points[index]);
}

How to run

● check each of config files and launch files in the folders of this repo

Trouble shooting for `Gazebo Velodyne plugin`

When using CPU ray, instead of GPU ray, height - width should be interchanged, I used this script file

LIO-SAM not working with bag files captured in gazebo

Hi @engcang! Nice integration, your videos look pretty good. I have been trying to replay what you did with LIO-SAM repo but using another robot. I am using a differential drive robot model (https://github.com/sanuann/DifferentialDriveRobot) where I attached a Velodyne VLP-16 (https://github.com/lmark1/velodyne_simulator) and a IMU (libgazebo_ros_imu.so).

I can't get a good reconstruction. Have you seen this behavior? I have found that it could be related to the extrinsic parameters in params.yaml but I believe I'm setting the values correctly.

I attached the Velodyne into the robot chassis using the file myrobot.xacro from https://github.com/sanuann/DifferentialDriveRobot

<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
  <VLP-16 parent="chassis" name="velodyne" topic="/velodyne_points" hz="10" samples="440">
    <origin xyz="0 0 0.0" rpy="0 0 0" />
  </VLP-16>

I attached the IMU into the velodyne body frame and defined an update rate of 500Hz in the file myrobot.xacro from https://github.com/sanuann/DifferentialDriveRobot

<gazebo>
    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
      <alwaysOn>true</alwaysOn>
      <bodyName>velodyne</bodyName>
      <topicName>imu</topicName>
      <serviceName>imu_service</serviceName>
      <gaussianNoise>0.0</gaussianNoise>
      <updateRate>500.0</updateRate>
    </plugin>
  </gazebo>

Thus, all sensors are in the same body frame, velodyne. That is why I used this Extrinsics

# Extrinsics (lidar -> IMU)
  extrinsicTrans:  [0.000, 0.000, 0.0]
  extrinsicRot: [1, 0, 0,
                  0, 1, 0,
                  0, 0, 1]
  extrinsicRPY: [1,  0, 0,
                 0, 1, 0,
                 0, 0, 1]

but can't get a good reconstruction. I also tested moving the VLP-16 0.4m above the chassis and modified the Extrinsics to [0.000, 0.000, -0.438] (gotten from rosrun tf tf_echo velodyne chassis) but I have the same behavior.

Any suggestion will be appreciated. Thanks!

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