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Repository Summary
| Description | 适用于ROS2的基于iG-LIO的SLAM导航框架，配有占据图和TEB |
| Checkout URI | https://github.com/inif-fish/ig_lio_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-14 |
| 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) |
Packages
README
ROS2版本iG-LIO
本项目用于iG-LIO算法于ROS2框架下的导航部署，为添加2.5D地形导航能力，使用grid_map进行障碍检测
集成DWA/DWB、TEB两种局部规划器，目前适用于Livox Mid-360激光雷达，兼容任意安装方案 注：目前适配倒置安装方案，其他安装方案请注意修改参数
| 工作基于 |
|---|
| https://github.com/liangheming/iG-LIO_SAM_LC |
| https://github.com/KTH-RPL/DynamicMap_Benchmark |
| https://github.com/CCNYRoboticsLab/imu_tools |
| https://github.com/ros-planning/navigation2 |
| https://github.com/rst-tu-dortmund/teb_local_planner |
| https://github.com/ANYbotics/grid_map |
环境
| 软件 | 安装 | 版本 |
|---|---|---|
| Eigen3 | apt安装 | 3.3.7 |
| ROS2 | apt安装 | galactic |
| Ceres | 编译安装 | 2.1.0 |
| Sophus | 编译安装 | 1.22.10 |
| gtsam | 编译安装 | 4.20 |
| fmt | 任意 | latest |
| yaml-cpp | 编译安装 | fit system |
| Glog / gflag | 任意 | latest |
| Livox-SDK2 | 编译安装 | https://github.com/Livox-SDK/Livox-SDK2 |
| livox_ros_driver2 | 编译安装 | https://github.com/Livox-SDK/livox_ros_driver2 |
| TBB | apt安装 | 2020.1-2 |
配置文件
ThirdParty/navigation2-galactic/nav2_bringup/bringup/params/base_robot_params.yaml
src/ig_lio_c/config/config_fg.yaml
src/ig_lio_c/config/parameters.yaml
命令
增加UDP缓冲区
sudo sysctl -w net.core.rmem_max=16777216
sudo sysctl -w net.core.rmem_default=16777216
建图与定位
ros2 launch ig_lio_c map_mapping_launch.py
导航与规划
ros2 launch nav2_bringup base_robot_launch.py
保存pcd地图
ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX', resolution: 0.0}"
使用保存的pcd地图转换占据地图
ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"
效果图
CONTRIBUTING
No CONTRIBUTING.md found.
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