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A simple location system based on a priori map, which is based on the lio-sam framework

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liorf_localization

This repo is a simple location system based on a priori map, which is based on the lio-sam framework. The current version only supports small scene maps, large scene maps may have some problems.

------------------- Update Date: 2022-11-20 -------------------

  • First verison

------------------- Update Date: 2022-12-13 -------------------

  • Re-derivation the LM optimization, don't need coordinate transformation.

------------------- Update Date: 2023-03-18 -------------------

  • Fixed a bug and was more robust for large scene maps.

------------------- Update Date: 2024-04-30 -------------------

Video: 基于LIO-SAM框架SLAM算法开发(三):定位之小场景定位算法

Prepare priori map

  • You can get a priori map by running liorf or lviorf or liorf-ros2 or any open source SLAM algorithm(e.g. A-LOAM or LOAM or LIO-SAM);

- Make sure the priori map name is "GlobalMap.pcd";
- Change the "savePCDDirectory" parameter in "localization.yaml" to your priori map path.

Dependency

  • gtsam(Georgia Tech Smoothing and Mapping library)
      sudo add-apt-repository ppa:borglab/gtsam-release-4.0
      sudo apt install libgtsam-dev libgtsam-unstable-dev
    

Install

  1. Use the following commands to download and compile the package. (The available ROS2 implementation see branch liorf_localization-ros2)
  mkdir -p ~/liorf_localization/src && cd ~/liorf_localization/src
  git clone https://github.com/YJZLuckyBoy/liorf_localization.git
  cd ../
  catkin_make

How to use

  1. Run the launch file
  roslaunch liorf_localization run_localization.launch
  1. Use "2D Pose Estimate" on rviz to set the initial pose

  2. Play bag files

  rosbag play your_localization.bag

Examples

  1. Urban

drawing

Scalable Examples

  1. Building(Avia)

drawing

  1. Underground Parking(Avia)

drawing

Acknowledgments

Thanks for LIO-SAM, MulRan and UrbanNavDataset.

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