UPDATE: If you would like to enable save map and test localization separately, you can check this repo: SSL_SLAM2
This code is an implementation of paper "Lightweight 3-D Localization and Mapping for Solid-State LiDAR", accepted in IEEE Robotics and Automation Letters, 2021
A summary video demo can be found at Video
Modifier: Wang Han, Nanyang Technological University, Singapore
Ubuntu 64-bit 20.04.
ROS Noetic. ROS Installation
Follow Ceres Installation.
Follow PCL Installation.
Tested with 1.8.1
Follow OctoMap Installation.
sudo apt-get install ros-noetic-octomap*
For visualization purpose, this package uses hector trajectory sever, you may install the package by
sudo apt-get install ros-noetic-hector-trajectory-server
Alternatively, you may remove the hector trajectory server node if trajectory visualization is not needed
cd ~/catkin_ws/src
git clone https://github.com/wh200720041/ssl_slam.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
You may download our recorded data (5GB) if you dont have realsense L515, and by defult the file should be under home/user/Downloads unzip the file
cd ~/Downloads
unzip ~/Downloads/L515_test.zip
if you would like to create the map at the same time, you can run
roslaunch ssl_slam ssl_slam_mapping.launch
or create probability map
roslaunch ssl_slam ssl_slam_octo_mapping.launch
if only localization is required, you may refer to run
roslaunch ssl_slam ssl_slam.launch
If you have new Realsense L515 sensor, you may follow the below setup instructions
Follow Librealsense Installation
Copy realsense_ros package to your catkin folder
cd ~/catkin_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git
cd ..
catkin_make
roslaunch ssl_slam ssl_slam_L515.launch
This runs ssl_slam_mapping.launch
with live L515 data.
If you use this work for your research, you may want to cite the paper below, your citation will be appreciated
@article{wang2021lightweight,
author={H. {Wang} and C. {Wang} and L. {Xie}},
journal={IEEE Robotics and Automation Letters},
title={Lightweight 3-D Localization and Mapping for Solid-State LiDAR},
year={2021},
volume={6},
number={2},
pages={1801-1807},
doi={10.1109/LRA.2021.3060392}}