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https://github.com/farzadazizizade/husky-lio-sam
Husky-LIO-SAM
https://github.com/farzadazizizade/husky-lio-sam
gazebo husky lio-sam melodic merger noetic pcl ros rviz simulation slam
Last synced: about 6 hours ago
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Husky-LIO-SAM
- Host: GitHub
- URL: https://github.com/farzadazizizade/husky-lio-sam
- Owner: FarzadAziziZade
- Created: 2022-06-24T07:25:04.000Z (over 2 years ago)
- Default Branch: Melodic
- Last Pushed: 2023-02-23T10:19:27.000Z (over 1 year ago)
- Last Synced: 2024-04-28T05:22:01.632Z (6 months ago)
- Topics: gazebo, husky, lio-sam, melodic, merger, noetic, pcl, ros, rviz, simulation, slam
- Language: C++
- Homepage:
- Size: 2.8 MB
- Stars: 8
- Watchers: 1
- Forks: 3
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Husky-LIO-SAM (Melodic - [Go to Noetic version](https://github.com/FarzadAziziZade/Husky-LIO-SAM/tree/Noetic))
This package is an implementation of the LIO-SAM on Husky UGV in a simulation environment.
This package is based on:
=========================
- [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM)
- [HUSKY](https://github.com/husky/husky/tree/3af80eab1ec0b0d44259c6c8797e4a28797507ca)
Requirements:
============
- [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu)
- [Click for ROS Noetic version](https://github.com/FarzadAziziZade/Husky-LIO-SAM/tree/Noetic)
Make sure that you have installed all dependencies:
==================================================
```
sudo apt-get install -y ros-melodic-navigation
sudo apt-get install -y ros-melodic-robot-localization
sudo apt-get install -y ros-melodic-robot-state-publisher
sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev
sudo apt-get install ros-melodic-velodyne-*
```
Then install the Husky packages (for more information visit [HUSKY](http://wiki.ros.org/Robots/Husky)):
==============================================================================================
```
sudo apt-get install ros-melodic-husky-*
export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro
```
How to compile:
===============
```
mkdir -p catkin_ws_HUSKY_LIO_SAM
cd ~/catkin_ws_HUSKY_LIO_SAM
git clone -b Melodic https://github.com/FarzadAziziZade/Husky-LIO-SAM.git
mv Husky-LIO-SAM src
catkin_make
```
How to prepare simulation environment:
====================================
1. download the [DAE](https://drive.google.com/file/d/1HfOU4oYl1D4UGBcUe0zXGNeuPx7ARpQL/view?usp=sharing) file
2. put the file in (catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds/include)
3. go to (catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds)
4. open (clearpath_playpen.world) with a texteditor
5. find two lines including (/home/{USERNAME}/catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds/include/minefourthv7withCforGAZEBOO.dae)
6. replace the {USERNAME} with your own username
7. save the file and close it
8. Follow these commands:
```
sudo cp -r ~/catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/ /opt/ros/melodic/share
```
How to run the SLAM simulation:
===============================
1. source devel/setup.bash
2. roslaunch lio_sam hrun.launch
3. roslaunch lio_sam run.launch
4. roslaunch lio_sam mrun.launch
How to run the merging module without SLAM:
===========================================
1. source devel/setup.bash
2. roslaunch lio_sam hrun.launch
3. roslaunch lio_sam mrun_wrviz.launch
SLAM and Simulation Results:
============================
PCL_M Results:
==============
