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https://github.com/HKUST-Aerial-Robotics/A-LOAM

Advanced implementation of LOAM
https://github.com/HKUST-Aerial-Robotics/A-LOAM

lidar loam slam

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Advanced implementation of LOAM

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# A-LOAM

## Advanced implementation of LOAM



A-LOAM is an Advanced implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), which uses Eigen and Ceres Solver to simplify code structure. This code is modified from LOAM and [LOAM_NOTED](https://github.com/cuitaixiang/LOAM_NOTED). This code is clean and simple without complicated mathematical derivation and redundant operations. It is a good learning material for SLAM beginners.






**Modifier:** [Tong Qin](http://www.qintonguav.com), [Shaozu Cao](https://github.com/shaozu)



## 1. Prerequisites

### 1.1 **Ubuntu** and **ROS**

Ubuntu 64-bit 16.04 or 18.04.

ROS Kinetic or Melodic. [ROS Installation](http://wiki.ros.org/ROS/Installation)



### 1.2. **Ceres Solver**

Follow [Ceres Installation](http://ceres-solver.org/installation.html).



### 1.3. **PCL**

Follow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).



## 2. Build A-LOAM

Clone the repository and catkin_make:



```

    cd ~/catkin_ws/src

    git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git

    cd ../

    catkin_make

    source ~/catkin_ws/devel/setup.bash

```



## 3. Velodyne VLP-16 Example

Download [NSH indoor outdoor](https://drive.google.com/file/d/1s05tBQOLNEDDurlg48KiUWxCp-YqYyGH/view) to YOUR_DATASET_FOLDER. 



```

    roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch

    rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag

```



## 4. KITTI Example (Velodyne HDL-64)

Download [KITTI Odometry dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) to YOUR_DATASET_FOLDER and set the `dataset_folder` and `sequence_number` parameters in `kitti_helper.launch` file. Note you also convert KITTI dataset to bag file for easy use by setting proper parameters in `kitti_helper.launch`. 



```

    roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch

    roslaunch aloam_velodyne kitti_helper.launch

```




## 5. Docker Support

To further facilitate the building process, we add docker in our code. Docker environment is like a sandbox, thus makes our code environment-independent. To run with docker, first make sure [ros](http://wiki.ros.org/ROS/Installation) and [docker](https://docs.docker.com/install/linux/docker-ce/ubuntu/) are installed on your machine. Then add your account to `docker` group by `sudo usermod -aG docker $YOUR_USER_NAME`. **Relaunch the terminal or logout and re-login if you get `Permission denied` error**, type:

```

cd ~/catkin_ws/src/A-LOAM/docker

make build

```

The build process may take a while depends on your machine. After that, run `./run.sh 16` or `./run.sh 64` to launch A-LOAM, then you should be able to see the result.



## 6.Acknowledgements

Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and [LOAM_NOTED](https://github.com/cuitaixiang/LOAM_NOTED).