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ROS 2 package of tightly-coupled lidar inertial ndt/gicp slam
| Date | Stars |
|---|---|
| 2026-07-24 | 428 |
| 2026-07-25 | 428 |
| 2026-07-28 | 428 |
| 2026-07-30 | 428 |
| 2026-08-06 | 428 |
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li_slam_ros2 ==== This package is a combination of [lidarslam_ros2](https://github.com/rsasaki0109/lidarslam_ros2) and the [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM) IMU composite method. See LIO-SAM for IMU composites, otherwise see lidarslam_ros2. - Walking dataset(casual_walk.bag) <img src="./scanmatcher/images/li_slam.png"> Yellow path: path without loop closure, Green path: modified path, Red: map Reference(From the LIO-SAM paper) https://github.com/TixiaoShan/LIO-SAM/blob/master/config/doc/paper.pdf <img src="./scanmatcher/images/liosam_thesis.png"> - Campus dataset (large) demo(big_loop.bag) <img src="./scanmatcher/images/big_loop_without_lo.png"> Yellow path: path without loop closure, Red: map (the 10x10 grids in size of 10m × 10m) <img src="./scanmatcher/images/big_loop_with_lo.png"> Green path: modified path with loop closure, Red: map ## requirement to build You need [ndt_omp_ros2](https://github.com/rsasaki0109/ndt_omp_ros2) and gtsam for scan-matcher clone ``` cd ~/ros2_ws/src git clone --recursive https://github.com/rsasaki0109/li_slam_ros2 ``` gtsam install ``` sudo add-apt-repository ppa:borglab/gtsam-release-4.1 sudo apt update sudo apt install libgtsam-dev libgtsam-unstable-dev ``` build ``` cd ~/ros2_ws rosdep update rosdep install --from-paths src --ignore-src -yr colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ``` ## Walking dataset demo(casual_walk.bag) The optimization pipeline in Lidar Inertial SLAM were taken from [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM). (Note: See the LIO-SAM repository for detailed settings regarding IMU. The other thing to note is that the speed will diverge if the voxel_grid_size is large. demo data(ROS1) in LIO-SAM https://github.com/TixiaoShan/LIO-SAM To use ros1 rosbag , use [rosbags](https://pypi.org/project/rosbags/). The Velodyne VLP-16 was used in this data. ``` rviz2 -d src/li_slam_ros2/scanmatcher/rviz/lio.rviz ``` ``` ros2 launch scanmatcher lio.launch.py ``` ``` ros2 bag play walking_dataset/ ``` <img src="./scanmatcher/images/li_slam.gif"> Green arrow: pose, Yellow path: path, Green path: path by imu <img src="./scanmatcher/images/li_slam.png"> Yellow path: path without loop closure, Green path: modified path, Red: map rosgraph <img src="./scanmatcher/images/rosgraph.png"> `pose_graph.g2o` and `map.pcd` are saved in loop closing or using the following service call. ``` ros2 service call /map_save std_srvs/Empty ``` ## Campus dataset (large) demo(big_loop.bag) ``` rviz2 -d src/li_slam_ros2/scanmatcher/rviz/lio_bigloop.rviz ``` ``` ros2 launch scanmatcher lio_bigloop.launch.py ``` ``` ros2 bag play rosbag_v2 big_loop/ ``` <img src="./scanmatcher/images/big_loop_without_lo.png"> Yellow path: path without loop closure, Red: map (the 10x10 grids in size of 10m × 10m) <img src="./scanmatcher/images/big_loop_with_lo.png"> Green path: modified path with loop closure, Red: map ## Used Libraries - Eigen - PCL(BSD3) - g2o(BSD2 except a part) - [ndt_omp](https://github.com/koide3/ndt_omp) (BSD2) - gtsam(BSD2)
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matched fp:7c4afbe813bcb981, topic:ros2, topic:slam, name:slam