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grodom_ros1 package from glo repo

grodom_ros1

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Package Summary

Tags No category tags.
Version 1.0.0
License GPLv3
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description General LiDAR-Only Odometry with High Efficiency and Low Drift
Checkout URI https://github.com/robosu12/glo.git
VCS Type git
VCS Version master
Last Updated 2025-02-08
Dev Status UNKNOWN
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

The grodom_ros1 package

Additional Links

No additional links.

Maintainers

  • YunSu

Authors

No additional authors.
README.md

GLO - General LiDAR-only Odometry

Compile

Dependency

  • ubuntu20.04 + ROS noetic
  • Eigen
  • ceres
  • PCL
  • yaml-cpp
    sudo apt update
    sudo apt install libyaml-cpp-dev

Build

mkdir -p ~/catkin_ws_grodom/src
cd ~/catkin_ws_grodom/src
git clone https://github.com/robosu12/GLO.git
cd ..
source /opt/ros/noetic/setup.bash
catkin_make
source devel/setup.bash

Usage

Run glo with kitti dataset

First, modify the dataset_path in GLO/params/3DSLAM_kitti.yaml with your dataset path.

config file: GLO/params/3DSLAM_kitti.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_kitti.launch.

You can change the kitti_sequence number in GLO/params/3DSLAM_kitti.yaml to operate glo in different sequence.

Run glo with NTU dataset

First, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_NTU.launch.

Second, play NTU rosbag:

rosbag play xxx.bag.

Run glo with you rosbag

First, modify the cloud_topic_name in GLO/params/3DSLAM_RS16.yaml with your topic name.

config file: GLO/params/3DSLAM_RS16.yaml

Second, launch the GLO node and rviz:

roslaunch grodom_ros1 grodom_RS16.launch

Third, play your rosbag:

rosbag play xxx.bag.

please ensure the topic in rosbag is same with in config file.

Developers

YunSu

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roscpp
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged grodom_ros1 at Robotics Stack Exchange

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