{"id":18744173,"url":"https://github.com/farzadazizizade/husky-lio-sam","last_synced_at":"2025-04-12T21:32:30.332Z","repository":{"id":50398903,"uuid":"506917589","full_name":"FarzadAziziZade/Husky-LIO-SAM","owner":"FarzadAziziZade","description":"Husky-LIO-SAM","archived":false,"fork":false,"pushed_at":"2023-02-23T10:19:27.000Z","size":2939,"stargazers_count":12,"open_issues_count":0,"forks_count":4,"subscribers_count":1,"default_branch":"Melodic","last_synced_at":"2025-03-26T15:54:21.382Z","etag":null,"topics":["gazebo","husky","lio-sam","melodic","merger","noetic","pcl","ros","rviz","simulation","slam"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/FarzadAziziZade.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2022-06-24T07:25:04.000Z","updated_at":"2025-02-12T00:53:10.000Z","dependencies_parsed_at":"2022-09-12T14:22:15.471Z","dependency_job_id":null,"html_url":"https://github.com/FarzadAziziZade/Husky-LIO-SAM","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/FarzadAziziZade%2FHusky-LIO-SAM","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/FarzadAziziZade%2FHusky-LIO-SAM/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/FarzadAziziZade%2FHusky-LIO-SAM/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/FarzadAziziZade%2FHusky-LIO-SAM/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/FarzadAziziZade","download_url":"https://codeload.github.com/FarzadAziziZade/Husky-LIO-SAM/tar.gz/refs/heads/Melodic","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248636113,"owners_count":21137376,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["gazebo","husky","lio-sam","melodic","merger","noetic","pcl","ros","rviz","simulation","slam"],"created_at":"2024-11-07T16:13:59.345Z","updated_at":"2025-04-12T21:32:28.069Z","avatar_url":"https://github.com/FarzadAziziZade.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Husky-LIO-SAM (Melodic - [Go to Noetic version](https://github.com/FarzadAziziZade/Husky-LIO-SAM/tree/Noetic))\nThis package is an implementation of the LIO-SAM on Husky UGV in a simulation environment.\n\nThis package is based on:\n=========================\n  - [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM)\n  \n  - [HUSKY](https://github.com/husky/husky/tree/3af80eab1ec0b0d44259c6c8797e4a28797507ca)\n\n\nRequirements:\n============\n  - [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu)\n  - [Click for ROS Noetic version](https://github.com/FarzadAziziZade/Husky-LIO-SAM/tree/Noetic)\n\n\nMake sure that you have installed all dependencies:\n==================================================\n\n```\nsudo apt-get install -y ros-melodic-navigation\nsudo apt-get install -y ros-melodic-robot-localization\nsudo apt-get install -y ros-melodic-robot-state-publisher\nsudo add-apt-repository ppa:borglab/gtsam-release-4.0\nsudo apt install libgtsam-dev libgtsam-unstable-dev\nsudo apt-get install ros-melodic-velodyne-*\n```\n\nThen install the Husky packages (for more information visit [HUSKY](http://wiki.ros.org/Robots/Husky)):\n==============================================================================================\n\n```\nsudo apt-get install ros-melodic-husky-*\nexport HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro\n```\n  \n\nHow to compile:\n===============\n\n```\nmkdir -p   catkin_ws_HUSKY_LIO_SAM\ncd ~/catkin_ws_HUSKY_LIO_SAM\ngit clone -b Melodic https://github.com/FarzadAziziZade/Husky-LIO-SAM.git\nmv Husky-LIO-SAM src\ncatkin_make\n```\n\nHow to prepare simulation environment:\n====================================\n1. download the [DAE](https://drive.google.com/file/d/1HfOU4oYl1D4UGBcUe0zXGNeuPx7ARpQL/view?usp=sharing) file\n2. put the file in (catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds/include)\n3. go to (catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds)\n4. open (clearpath_playpen.world) with a texteditor\n5. find two lines including (\u003curi\u003e/home/{USERNAME}/catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds/include/minefourthv7withCforGAZEBOO.dae\u003c/uri\u003e)\n6. replace the {USERNAME}  with your own username\n7. save the file and close it\n8. Follow these commands:\n\n```\nsudo cp -r ~/catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/ /opt/ros/melodic/share\n```\n\nHow to run the SLAM simulation:\n===============================\n1. source devel/setup.bash\n2. roslaunch lio_sam hrun.launch\n3. roslaunch lio_sam run.launch\n4. roslaunch lio_sam mrun.launch\n\n\n\nHow to run the merging module without SLAM:\n===========================================\n1. source devel/setup.bash\n2. roslaunch lio_sam hrun.launch\n3. roslaunch lio_sam mrun_wrviz.launch\n\n\n\nSLAM and Simulation Results:\n============================\n\n![Screenshot from 2022-06-28 11-11-35](https://user-images.githubusercontent.com/84402243/183020160-f790bb00-b8ee-4f4f-8047-4d815e8bce70.png)\n![Screenshot from 2022-06-28 11-11-11](https://user-images.githubusercontent.com/84402243/183020379-e36dc904-1c65-4284-9327-3f1a519d9e58.png)\n![Screenshot from 2022-06-28 11-10-38](https://user-images.githubusercontent.com/84402243/183020514-71b6c305-35cd-4ab9-9012-2f670c4bd1f6.png)\n![Screenshot from 2022-06-28 11-11-43](https://user-images.githubusercontent.com/84402243/183020587-3ce64b46-1622-4704-85d5-15961c7720b1.png)\n![Screenshot (827)](https://user-images.githubusercontent.com/84402243/183019910-990a0823-75d0-43a1-a8f9-46855851cbc9.png)\n\nPCL_M Results:\n==============\n![Screenshot from 2022-07-28 03-18-07](https://user-images.githubusercontent.com/84402243/181609705-9eeb9cec-36b5-41f8-a9aa-0cf067fc002f.png)\n![Screenshot from 2022-07-28 03-18-33](https://user-images.githubusercontent.com/84402243/181609868-ee4055ec-788c-4ea2-82be-8e83fdbd0e26.png)\n![Screenshot from 2022-07-28 03-18-11](https://user-images.githubusercontent.com/84402243/181609737-25fd86dc-8f86-4ef5-97cb-5b94663955fb.png)\n![Screenshot from 2022-07-28 03-18-14](https://user-images.githubusercontent.com/84402243/181609762-fcaa8b2d-e773-423b-8025-fc97c22f0b0c.png)\n![Screenshot from 2022-07-28 03-18-18](https://user-images.githubusercontent.com/84402243/181609835-e47932b5-d29b-4b64-9a11-b208504ed73b.png)\n![Screenshot from 2022-07-28 03-18-23](https://user-images.githubusercontent.com/84402243/181609855-f81dddc3-83a3-4f4c-b32e-cb5b1a7812b1.png)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffarzadazizizade%2Fhusky-lio-sam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ffarzadazizizade%2Fhusky-lio-sam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffarzadazizizade%2Fhusky-lio-sam/lists"}