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Robust Lidar Odometry System
| Date | Stars |
|---|---|
| 2026-07-24 | 389 |
| 2026-07-25 | 389 |
| 2026-07-28 | 389 |
| 2026-07-30 | 389 |
| 2026-08-06 | 389 |
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# LOCUS LOCUS (Lidar Odometry for Consistent operation in Uncertain Settings) is a Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time.  # Build Instructions See [YouTube video](https://youtu.be/f_S4_6deQuI) Install [ROS](http://wiki.ros.org/ROS/Installation) Install catkin tools ``` sudo apt-get install ros-melodic-catkin python-catkin-tools python3-catkin-tools # for the melodic distro - Ubuntu 18.04 sudo apt-get install ros-noetic-catkin python3-catkin-tools # for the noetc distro - Ubuntu 20.04 ``` Install PCL_ROS ``` sudo apt-get install ros-melodic-pcl-ros # for the melodic distro - Ubuntu 18.04 sudo apt-get install ros-noetic-pcl-ros # for the noetc distro - Ubuntu 20.04 ``` Install `tf2_sensor_msgs`, `tf2_geometry_msgs` and `eigen_conversions` ``` # for the melodic distro - Ubuntu 18.04 sudo apt install ros-melodic-tf2-sensor-msgs sudo apt install ros-melodic-tf2-geometry-msgs sudo apt install ros-melodic-eigen-conversions # for the noetic distro - Ubuntu 20.04 sudo apt install ros-noetic-tf2-sensor-msgs sudo apt install ros-noetic-tf2-geometry-msgs sudo apt install ros-noetic-eigen-conversions ``` Install tmuxp (for our running scripts) tmuxp is a python wrapper for tmux allowing easy launching of multi-window, multi-tile tmux sessions. ``` sudo apt install tmux sudo apt install tmuxp ``` Build this package in a catkin workspace, e.g. ```bash mkdir -p catkin_ws/src cd catkin_ws catkin init # For melodic install catkin config -DCMAKE_BUILD_TYPE=Release --extend /opt/ros/melodic # For noetic install catkin config -DCMAKE_BUILD_TYPE=Release --extend /opt/ros/noetic cd src # With ssh git clone [email protected]:NeBula-Autonomy/LOCUS.git git clone [email protected]:NeBula-Autonomy/common_nebula_slam.git # With https git clone https://github.com/NeBula-Autonomy/LOCUS.git git clone https://github.com/NeBula-Autonomy/common_nebula_slam.git cd.. catkin build locus ``` Add the workspace sourcing to your bashrc (changing the filepath to match where your catkin workspace is) ``` echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrc ``` ## Run Unit tests rostest/gtest style unit tests are set up in numerous packages (not all) - run them all to check your install with: ``` cd ~/catkin_ws/src catkin run_tests ``` ## Setup Clang formatting For development, setup clang formatting for the repo ``` cd locus ./scripts/clang_setup/clang_setup.sh ``` This will install clang and put a pre-commit hook to maintain clang formatting. To force clang formatting on edited files, use: ``` git clang-format -f ``` ## Dockerfile The docker provides an alternative, contained method for installation Go to the docker folder, and ``` ./cmd locus build ./cmd locus run ./cmd locus bash cd ~/locus_ws/ catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release catkin build source devel/setup.bash ``` # Running Instructions This example is given for our open source datasets that come with ground truth: https://github.com/NeBula-Autonomy/nebula-odometry-dataset There are many datsets there to test on, across a range of environments and with data from different robotic platforms. Here, we give an example from dataset C, from a Husky Robot in the Statsop Power Plant, but the same steps apply for any other dataset we have released. The datset is large (45.8 GB), but to do a quick test, you can download just the first few lidar bags, and all non-lidar bags. Note: the steps for running LOCUS live on the robot is no different from running on a dataset - the datasets are run and processed in real-time. ## Download dataset Download data from [nebula-odometry-dataset](https://github.com/NeBula-Autonomy/nebula-odometry-dataset/blob/main/pages/dataset.md) 1. Download the rosbag data for [dataset C](https://nextcloud.robotics.caltech.edu/index.php/s/6QNKyLN85WqN9Rd) (optionally just the first few lidar bags for a small test) 2. Download the [Extras configuration
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Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:09b9e6ca89b7c242, topic:ros, topic:slam, readme:robotics