This project provides tools for robot LiDAR-based mapping and localization.

This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.

For now to build this repository, you need to:

1. make sure CMake version is correct
2. install dependencies from open3d_catkin
3. install dependencies for open3d_slam

Clone the repository to:

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone [email protected]:leggedrobotics/open3d_slam_private.git

1. Make sure your CMake > 3.18

cmake --version

If NOT install the cmake from https://cmake.org/download download tar. Unpack tar and

cd cmake-<version>
./configure
make -j<num_of_processes>
sudo make install

2. Install the necessary dependencies from open3d_catkin:

cd open_3d_slam_rsl/open3d_catkin/
./install_deps.sh

3. Install libraries required from open3d-slam

sudo apt install libgoogle-glog-dev libglfw3 libglfw3-dev liblua5.2-dev

4. Install libnabo from Anybotics by cloning it to catkin_ws/src

cd catkin_ws/src
git clone [email protected]:ANYbotics/libnabo.git

And finally:

cd catkin_ws
catkin init
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build open3d_slam_ros

First make sure you have correct topics for LiDAR point cloud and pose prior external odometry.

source devel/setup.sh

To perform mapping and localization, call:

roslaunch open3d_slam_ros development.launch

While playing the rosbag file:

rosbag play --clock --pause -s 0 -r 1.0 <your_great_bag>.bag

The external repositories used in this work are under their respective licenses.

https://github.com/ANYbotics/libpointmatcher , https://github.com/ANYbotics/pointmatcher-ros and https://github.com/ANYbotics/libnabo