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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/irobot-algorithm/sentry_navigation.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- gaoxiang
Authors
- Gao Xiang
## FasterLIO
This is the code repository of FasterLIO by Chunge Bai, Tao Xiang, Yajie Chen, Haoqian Wang, Fang Zhang and Xiang Gao.
Faster-LIO is a light-weight Lidar-inertial odometry for lidar pose tracking and point cloud mapping. It is developed on
the base of [FastLIO2](https://github.com/hku-mars/FAST_LIO) and provides about 1.5-2x speed increase. It achieves
almost 1k-2k hz for solid-state lidars and over 100 hz for a typical 32 lines spinning lidar. Please refer to [our paper](./doc/faster-lio.pdf)
for more details.
Below is the FPS tested with avia and velodyne 32 spinning lidar from FastLIO2 and [NCLT](http://robots.engin.umich.edu/nclt/), where "AMD" is tested with AMD R7 5800X and "Intel" tested with Intel Xeon Gold 5218.
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/fps-fasterlio.png" width = "1080" align=center />
</div>
<div align="center">
<img src="https://github.com/gaoxiang12/faster-lio/blob/main/doc/faster-lio-nclt.png" width = "1080" align=center />
</div>
# Quick Start
## Docker
```bash
git clone
cd faster-lio/docker
docker-compose build
docker-compose up
Before entering docker-compose up command, you should enter xhost +local:docker in the local terminal to enable docker to communicate with Xserver on the host.
update bag file path in .env, then run.
catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_avia.launch
Open another terminal, then play bag file.
issue
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Don’t worry, it can run normally. you can run source /etc/profile&& source /opt/ros/noetic/setup.bash && source devel/setup.bash, then run roslaunch xxx
Dependency
FasterLIO is tested in Ubuntu 18.04 and Ubuntu 20.04. Please install the following libraries before compilation.
- ROS (melodic or noetic)
- glog:
sudo apt-get install libgoogle-glog-dev - eigen:
sudo apt-get install libeigen3-dev - pcl:
sudo apt-get install libpcl-dev - yaml-cpp:
sudo apt-get install libyaml-cpp-dev
Compile
FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile step is relatively simple.
- Plain cmake
Use the following commands to build FasterLIO:
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
Note: iVox type should be specified by cmake at compile time. By default we will use linear iVox.
Use
cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON
to build the FasterLIO with PHC iVox.
- catkin_make
Clone this repository to your catkin workspace, e.g., ~/catkin_ws/src, then use catkin_make instead of the above cmake commands. You can also specify the iVox type in catkin_make parameters.
After the compilation, you will get the a libfaster_lio.so and two executable files. If you choose plain cmake build, they will be located in ./build/devel/lib/faster_lio. If you use catkin_make, you could run them with rosrun and roslaunch.
- Compile in Ubuntu 18.04 or earlier
Since FasterLIO use cpp 17 as its standard (which requires a higher version of g++), you should upgrade the compiler and use the earlier tbb library provided in the thirdparty of this repo. Please follow the steps here:
- Upgrade the g++ compiler to 9.0 or higher by:
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++
- unzip the tbb library in the thirdparty:
cd thirdparty
tar -xvf tbb2018_20170726oss_lin.tgz
- specify the tbb directory in the cmake stage:
cd ../build
cmake .. -DCUSTOM_TBB_DIR=`pwd`/../thirdparty/tbb2018_20170726oss
Then just build FasterLIO with make.
Prepare the datasets
Download the avia/nclt bags in your computer:
Run FasterLIO
FasterLIO can be called like a plain binary program. It can run in offline mode or online mode like any ros program.
- Offline mode
Call run_mapping_offline with parameters to specify the bag file and the config file like:
./build/devel/lib/faster_lio/run_mapping_offline --bag_file your_avia_bag_file --config_file ./config/avia.yaml
for avia. For NCLT, just run:
./build/devel/lib/faster_lio/run_mapping_offline --bag_file your_nclt_bag_file --config_file ./config/velodyne.yaml
Please replace “your avia bag file” with the path in your computer. FasterLIO will print the FPS and time usage when it quits:
I0216 17:16:05.286536 26492 run_mapping_offline.cc:89] Faster LIO average FPS: 1884.6
I0216 17:16:05.286549 26492 run_mapping_offline.cc:91] save trajectory to: ./src/fast_lio2/Log/faster_lio/20120615.tum
I0216 17:16:05.286706 26492 utils.h:52] >>> ===== Printing run time =====
I0216 17:16:05.286711 26492 utils.h:54] > [ IVox Add Points ] average time usage: 0.0147311 ms , called times: 6373
I0216 17:16:05.286721 26492 utils.h:54] > [ Incremental Mapping ] average time usage: 0.0271787 ms , called times: 6373
I0216 17:16:05.286731 26492 utils.h:54] > [ ObsModel (IEKF Build Jacobian) ] average time usage: 0.00745852 ms , called times: 25040
I0216 17:16:05.286752 26492 utils.h:54] > [ ObsModel (Lidar Match) ] average time usage: 0.0298004 ms , called times: 25040
I0216 17:16:05.286775 26492 utils.h:54] > [ Downsample PointCloud ] average time usage: 0.0224052 ms , called times: 6373
I0216 17:16:05.286784 26492 utils.h:54] > [ IEKF Solve and Update ] average time usage: 0.342008 ms , called times: 6373
I0216 17:16:05.286792 26492 utils.h:54] > [ Laser Mapping Single Run ] average time usage: 0.530618 ms , called times: 6387
I0216 17:16:05.286800 26492 utils.h:54] > [ Preprocess (Livox) ] average time usage: 0.0267813 ms , called times: 6387
I0216 17:16:05.286808 26492 utils.h:54] > [ Undistort Pcl ] average time usage: 0.0810455 ms , called times: 6375
I0216 17:16:05.286816 26492 utils.h:59] >>> ===== Printing run time end =====
Point clouds will be saved to PCD/scans.pcd by default.
- Online mode
Online mode could be launched through rosrun/roslaunch/directly call. We use roslaunch as an example:
- Launch faster-lio:
roslaunch faster_lio mapping_avia.launchThis will give you a rviz window. - Play the bags using
rosbag play your bag fileto see the online outputs.
Acknowledgements
- We thank the authors of FastLIO2, LOAM for their great jobs.
- Please cite our work if you are using FasterLIO in academic work. Bibtex is provided here (early-access version):
@ARTICLE{9718203,
author={Bai, Chunge and Xiao, Tao and Chen, Yajie and Wang, Haoqian and Zhang, Fang and Gao, Xiang},
journal={IEEE Robotics and Automation Letters},
title={Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels},
year={2022},
volume={7},
number={2},
pages={4861-4868},
doi={10.1109/LRA.2022.3152830}}
- This work is supported by Idriver+ Technologies Co. Ltd.
Known Issues
- iVox is somehow sensitive to the voxel size. Please enlarge the voxel size if FasterLIO is not stable in your application.
- set -march=native in cmake may cause a core dump in the PCL point cloud deconstruction step (Ubuntu 20.04, gcc 11, AMD 5800X)(Ubuntu 18.04, gcc 9, i7-10750H), see https://stackoverflow.com/questions/61278204/segmentation-fault-when-deallocating-pclpointcloudpclpointxyzptr
```
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| nav_msgs | |
| roscpp | |
| rospy | |
| std_msgs | |
| sensor_msgs | |
| tf | |
| pcl_ros | |
| message_generation | |
| catkin | |
| message_runtime | |
| rostest | |
| rosbag |
System Dependencies
Dependant Packages
Launch files
- launch/mapping_mid360_slam.launch
-
- rviz [default: false]
- launch/gdb_debug_example.launch
-
- rviz [default: true]
- launch/mapping_velodyne.launch
-
- rviz [default: true]
- launch/mapping_velodyne_ulhk.launch
-
- rviz [default: true]
- launch/mapping_velodyne_liosam.launch
-
- rviz [default: true]
- launch/mapping_mid360.launch
-
- rviz [default: false]
- launch/mapping_ouster64.launch
-
- rviz [default: true]
- launch/mapping_horizon.launch
-
- rviz [default: true]
- launch/mapping_avia.launch
-
- rviz [default: true]
- launch/mapping_velodyne_utbm.launch
-
- rviz [default: true]