LiDAR SLAM

This repository summarizes my work result of master's thesis at KIT, with the topic "LiDAR Localization and Mapping Based on Riemannian Iterative Closest Points".

Schloss Karlsruhe

ISAS

Requirements

• Install boost:

sudo apt-get install libboost-all-dev

• Install Eigen3

sudo apt-get install libeigen3-dev

• Install libnabo from source.
• Install libpointmatcher from source.
• Install PCL (optional） from Source.
  • If ICP with PCL wanted　

Workspace Initialization

cd ${path_to_lidarSLAM}/src
bash init.sh

Build

When compiling the code for the first time, the argument "-j1" is needed for message generation.

cd ${path_to_lidarSLAM}/
catkin_make -j1

Use the package

source ${path_to_lidarSLAM}/devel/setup.bash
roscore
rosbag play ~/Odom_rosbags/kitti_odometry_seq_00.bag --pause --clock
roslaunch lidar_odometry test.launch

Press space to unpause the rosbag