[lio_sam_localization_HDL-5] process has died [pid 20091, exit code -11, cmd /home/deploy/LIO-SAM-MID360-master/devel/lib/lio_sam/lio_sam_localization __name:=lio_sam_localization_HDL __log :=/home/deploy/.ros/log/ab16d2ee-383f-11ef-99e8-0433c2058f8e/lio_sam_localization_HDL-...
基于大佬的代码LIO-SAM_based_relocalization,在此基础了做了一些修改LIO-SAM-LOCALIZATION,主要修改为在全局坐标系map下发布轨迹,发布对齐后的gps轨迹。 在LIO-SAM-LOCALIZATION/src/globalLocalize.cpp中,这几个变量需要加以区分 floattransformTobeMapped[6];floattransformInTheWorld[6];floattranformOdomToWorld[6]; ...
LIO-SAM-LOCALIZATION 基于已知地图的定位,输出定位轨迹与GPS轨迹对比,采用UrbanNav-HK-Data20200314进行测试 RUN roslaunch lio_sam run_relocalize.launch rosbag play --clock 2020-03-14-16-45-35.bag RESULT GPS轨迹未对齐 GPS轨迹对齐 LIO-SAM A real-time lidar-inertial odometry package. We strongl...
LIOSAM是一种基于激光雷达的SLAM(Simultaneous Localization and Mapping)算法,它通过结合里程计和其他传感器的数据,提高了定位和地图构建的精度。LIOSAM算法在使用激光雷达的同时,能够有效地检测和处理传感器数据的退化,以提高系统的鲁棒性。 LIOSAM退化检测流程 LIOSAM退化检测的工作流程可以分为以下几个步骤: 数据采集:...
$ sudo apt-get install -y ros-noetic-navigation $ sudo apt-get install -y ros-noetic-robot-localization $ sudo apt-get install -y ros-noetic-robot-state-publisher 安装GTSAM $ git clone https://github.com/borglab/gtsam $ cd gtsam $ mkdir build && cd build # 注意这里要加-DGTSAM_BUI...
sudo apt-get install -y ros-kinetic-robot-localization sudo apt-get install -y ros-kinetic-robot-state-publisher gtsam 其官网链接为:官网链接 wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zipcd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/ ...
sudo apt-getinstall-y ros-kinetic-robot-localization sudo apt-getinstall-y ros-kinetic-robot-state-publisher gtsam 其官网链接为:官网链接 wget-O~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip cd~/Downloads/&&unzip gtsam.zip-d~/Downloads/cd~/Downloads/gtsam...
<launch> <node pkg="octomap_server" type="octomap_server_node" name="octomap_server"> <!-- 地图分辨率 --> <!-- fixed map frame (set to 'map' if SLAM or localization running!) --> <!-- 静态全局地图的 frame_id,但在增量式构建地图时,需要提供输入的点云帧和静态全局帧之间的 TF ...
lio-sam是一款开源的用于Lidar SLAM(Simultaneous Localization and Mapping)的工具包,用于实现激光雷达的定位和建图。它主要基于ROS(Robot Operating System)框架,具有高效的数据处理和算法实现。而flann是一个用于快速最近邻搜索的库,可以用于进行高效的数据点检索。在实际使用过程中,可能需要将flann与lio-sam进行编译整...
步骤: 安装ros依赖: sudo apt-get install -y ros-kinetic-navigation sudo apt-get install -y ros-kinetic-robot-localization sudo apt-get install -y ros-kinetic-robot-state-publisher 安装gstm: wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip cd ~/Downloads...