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https://github.com/PengYu-Team/DCL-SLAM

A ROS package of DCL-SLAM: Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm.
https://github.com/PengYu-Team/DCL-SLAM

collaborative-slam distributed-systems lidar

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A ROS package of DCL-SLAM: Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm.

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# DCL-SLAM

A ROS package of DCL-SLAM: Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm.

https://user-images.githubusercontent.com/41199568/213071890-679025cf-23f5-48f0-a2ef-d9b00911f926.mp4

The HD video of the demonstration of DCL-SLAM is avaliable at [BiliBili](https://www.bilibili.com/video/BV12G4y187mw/?spm_id_from=333.337.search-card.all.click).

## Prerequisites
- [Ubuntu ROS](http://wiki.ros.org/ROS/Installation) (Robot Operating System on Ubuntu 18.04 or 20.04)
- Python (For wstool and catkin tool)
- CMake (Compilation Configuration Tool)
- [Boost](http://www.boost.org/) (portable C++ source libraries)
- [PCL](https://pointclouds.org/downloads/linux.html) (Default Point Cloud Library on Ubuntu work normally)
- [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) (Default Eigen library on Ubuntu work normally)
```
sudo apt-get install cmake libboost-all-dev python-wstool python-catkin-tools
```
- [GTSAM](https://github.com/borglab/gtsam/releases) (Georgia Tech Smoothing and Mapping library)
- [livox_ros_driver](https://github.com/Livox-SDK/livox_ros_driver) (The driver for Livox LiDAR)

These prerequisites will be installed during the compilation.

## Compilation
Set up the workspace configuration:
```
mkdir -p ~/cslam_ws/src
cd ~/cslam_ws
catkin init
catkin config --merge-devel
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
```

Then use wstool for fetching catkin dependencies:
```
cd src
git clone https://github.com/PengYu-Team/DCL-SLAM.git
git clone https://github.com/PengYu-Team/DCL-LIO-SAM.git
git clone https://github.com/PengYu-Team/DCL-FAST-LIO.git
wstool init
wstool merge DCL-SLAM/dependencies.rosinstall
wstool update
```

Build DCL-SLAM
```
catkin build dcl_lio_sam
catkin build dcl_fast_lio
```

## Run with Dataset
- [S3E dataset](https://github.com/PengYu-Team/S3E). The datasets are configured to run with default parameter.
```
roslaunch dcl_slam run.launch
rosbag play *your-bag-path*.bag
```

- Other dataset. Please follow [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM) and [FAST-LIO2](https://github.com/hku-mars/FAST_LIO) to set your own config file for the dataset in "config/*your-config-file*.yaml", and change the path in "launch/single_ugv.launch".

## Citation
This work is published in IEEE Sensors Journal 2023, and please cite related papers:

```
@ARTICLE{10375928,
author={Zhong, Shipeng and Qi, Yuhua and Chen, Zhiqiang and Wu, Jin and Chen, Hongbo and Liu, Ming},
journal={IEEE Sensors Journal},
title={DCL-SLAM: A Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm},
year={2024},
volume={24},
number={4},
pages={4786-4797},
keywords={Simultaneous localization and mapping;Laser radar;Sensors;Optimization;Feature extraction;Trajectory;Odometry;Collaborative localization;distributed framework;place recognition;range sensor},
doi={10.1109/JSEN.2023.3345541}}
```

```
@article{feng2022s3e,
title={S3e: A large-scale multimodal dataset for collaborative slam},
author={Feng, Dapeng and Qi, Yuhua and Zhong, Shipeng and Chen, Zhiqiang and Jiao, Yudu and Chen, Qiming and Jiang, Tao and Chen, Hongbo},
journal={arXiv preprint arXiv:2210.13723},
year={2022}
}
```

## Acknowledgement

- DCL-LIO-SAM adopt [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM) as front end (Shan, Tixiao and Englot, Brendan and Meyers, Drew and Wang, Wei and Ratti, Carlo and Rus Daniela. LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping).

- DCL-FAST-LIO adopt [FAST-LIO2](https://github.com/hku-mars/FAST_LIO) as front end (Xu, Wei, Yixi Cai, Dongjiao He, Jiarong Lin, and Fu Zhang. Fast-lio2: Fast direct lidar-inertial odometry).

- DCL-SLAM is based on a two-stage distributed Gauss-Seidel approach (Siddharth Choudhary and Luca Carlone and Carlos Nieto and John Rogers and Henrik I. Christensen and Frank Dellaert. Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach).

- DCL-SLAM is based on outlier rejection of [DOOR-SLAM](https://github.com/lajoiepy/robust_distributed_mapper) (Lajoie, Pierre-Yves and Ramtoula, Benjamin and Chang, Yun and Carlone, Luca and Beltrame, Giovanni. DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams).