{"id":30110358,"url":"https://github.com/leggedrobotics/open3d_slam_private","last_synced_at":"2025-08-10T04:44:54.299Z","repository":{"id":299286177,"uuid":"712039961","full_name":"leggedrobotics/open3d_slam_private","owner":"leggedrobotics","description":"This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.","archived":false,"fork":false,"pushed_at":"2025-06-30T10:40:12.000Z","size":55453,"stargazers_count":1,"open_issues_count":3,"forks_count":1,"subscribers_count":12,"default_branch":"main","last_synced_at":"2025-06-30T11:44:37.526Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"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/leggedrobotics.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,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2023-10-30T17:09:59.000Z","updated_at":"2025-06-15T17:53:37.000Z","dependencies_parsed_at":"2025-06-15T19:33:15.891Z","dependency_job_id":"ec2a06c8-a669-4b94-a31c-74bd6a2430f5","html_url":"https://github.com/leggedrobotics/open3d_slam_private","commit_stats":null,"previous_names":["leggedrobotics/open3d_slam_private"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/leggedrobotics/open3d_slam_private","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fopen3d_slam_private","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fopen3d_slam_private/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fopen3d_slam_private/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fopen3d_slam_private/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/open3d_slam_private/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fopen3d_slam_private/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":269677516,"owners_count":24457858,"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","status":"online","status_checked_at":"2025-08-10T02:00:08.965Z","response_time":71,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"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":[],"created_at":"2025-08-10T04:44:44.577Z","updated_at":"2025-08-10T04:44:54.277Z","avatar_url":"https://github.com/leggedrobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# open3d_slam_private\n\nThis project provides tools for robot **LiDAR-based mapping and localization**.\n\nThis is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.\n\n## Build\nFor now to build this repository, you need to:\n1. make sure CMake version is correct\n2. install dependencies from `open3d_catkin` \n3. install dependencies for `open3d_slam`\n\nClone the repository to:\n``` bash\ncd catkin_ws/src\ngit clone git@github.com:leggedrobotics/open3d_slam_private.git\n```\n\n1. Make sure your CMake \u003e 3.18\n```bash\ncmake --version\n```\n**If NOT** install the cmake from https://cmake.org/download download tar.\nUnpack tar and\n``` bash\ncd cmake-\u003cversion\u003e\n./configure\nmake -j\u003cnum_of_processes\u003e\nsudo make install\n```\n\n2. Install the necessary dependencies from `open3d_catkin`:\n```bash\ncd open_3d_slam_rsl/open3d_catkin/\n./install_deps.sh\n```\n\n3. Install libraries required from `open3d-slam`\n```bash\nsudo apt install libgoogle-glog-dev libglfw3 libglfw3-dev liblua5.2-dev\n``` \n\n4. Install `message_logger` from Anybotics (Temporary) by cloning it to `catkin_ws/src`\n\n```bash\ngit clone git@github.com:ANYbotics/message_logger.git\n```\n\nAnd finally:\n\n```bash\ncd catkin_ws\ncatkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo\ncatkin build\n```\n\n## Use\n\n```bash\nsource devel/setup.sh\n```\nTo perform **mapping**, call:\n```bash\nroslaunch open3d_slam_ros mapping.launch\n```\n\nWhile playing the rosbag file:\n\n```bash\nrosbag play --clock --pause -s 0 -r 1.0 \u003cyour_great_bag\u003e.bag\n```\nMake sure you have correct topics for lidar point clouds and odometry.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fopen3d_slam_private","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Fopen3d_slam_private","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fopen3d_slam_private/lists"}