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https://github.com/ga58lar/map-based-localization-evaluation
Dockerized collection of map-based LiDAR (+IMU) localization algorithms.
https://github.com/ga58lar/map-based-localization-evaluation
beste docker lidar maploc ros ros2
Last synced: 29 days ago
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Dockerized collection of map-based LiDAR (+IMU) localization algorithms.
- Host: GitHub
- URL: https://github.com/ga58lar/map-based-localization-evaluation
- Owner: ga58lar
- Created: 2024-09-14T19:41:59.000Z (4 months ago)
- Default Branch: master
- Last Pushed: 2024-12-05T10:33:32.000Z (about 1 month ago)
- Last Synced: 2024-12-05T11:34:37.357Z (about 1 month ago)
- Topics: beste, docker, lidar, maploc, ros, ros2
- Language: C++
- Homepage:
- Size: 34.2 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Evaluation of map-based LiDAR Localization Frameworks
Everything is hosted in Docker Containers 🐳📦
*"Diese Dokumentation ist schäbig"* [ich, 2024]
## Usage
Build: `./docker/build_docker.sh --dockerfile `
Run: `./docker/run_docker.sh --dockerfile `
### Example
```
./docker/build_docker.sh --dockerfile ros1_bridge
./docker/run_docker.sh --dockerfile ros1_bridge
```
## Tools
### kitti2bag
Convert sequences of the KITTI dataset to a rosbag.
Example:
```bash
kitti2bag -t 2011_10_03 -r 0027 raw_synced .
```
Your file structure has to look like:
```
2011_10_03/
|-- calib_cam_to_cam.txt
|-- calib_imu_to_velo.txt
|-- calib_velo_to_cam.txt
|-- 2011_10_03_drive_0027_sync/
```
### ros1_bridge
Bridge topics between ROS1 and ROS2.
1. Start a terminal with `roscore`
2. Start a second terminal
a. source ROS1
b. source ROS2
c. `export ROS_MASTER_URI=http://localhost:11311`
d. `ros2 run ros1_bridge dynamic_bridge`
### bag2pcd
Convert livox-msgs to pointcloud-msgs and export pointcloud-msgs to pcd files.
Conversion:
1. New Terminal: `roslaunch livox_repub livox_repub.launch`
2. New Terminal: `rosbag play /path/to/bag`
3. New Terminal: `rosbag record -a`
Extraction:
1. `rosrun pcl_ros bag_to_pcd `
### rosbags-convert
*NO DOCKER*
Convert a ROS1 bag to a ROS2 bag.
1. Create a virtual environment (tested with python=3.10)
2. `pip3 install 'rosbags>=0.9.11'`
3. `rosbags-convert --src /path/to/bag.bag --dst /path/to/output/folder/name`
## Localization
### [fast_lio_localization](https://github.com/HViktorTsoi/FAST_LIO_LOCALIZATION)
1. New Terminal: `roslaunch fast_lio_localization localization_velodyne.launch map:=/datasets/map.pcd`
2. New Terminal: `rosbag play /datasets/kitti_2011_10_03_drive_0027_synced.bag`
3. (optional) You can also specify an initial guess, if you are not starting at the map origin.
New Terminal: `rosrun fast_lio_localization publish_initial_pose.py x x z yaw pitch roll`
### [liloc](https://github.com/Yixin-F/LiLoc)
Switch mapping or map-based localization with mode "lio" or "relo" in the config.
1. Resolve an issue: - src/imageProjection.cpp → remove lines 417-420 (if is_dense statement)
2. New Terminal: `roscore`
3. New Terminal: `roslaunch liloc run_lio_sam_default.launch`
4. New Terminal: `rviz` with specific config (launch/include/config/rviz.rviz)
5. New Terminal: `rosbag play /datasets/kitti_2011_10_03_drive_0027_synced.bag`
### [lidar_localization_ros2](https://github.com/rsasaki0109/lidar_localization_ros2)
1. New Terminal: `ros2 launch lidar_localization_ros2 lidar_localization.launch.py `
2. New Terminal: `rviz2 -d src/lidar_localization_ros2/rviz/localization.rviz`
3. New Terminal: `ros2 bag play /datasets/KITTI/kitti_2011_10_03_drive_0027_synced/ --topics /kitti/velo/pointcloud --remap /kitti/velo/pointcloud:=/velodyne_points`
### [DLL](https://github.com/robotics-upo/dll/tree/Humble)
Needs a map in .bt (binary octomap format), which does not have negative entries.
1. New Terminal: `ros2 launch dll kitti_launch.xml`
2. New Terminal: `ros2 bag play /datasets/kitti/kitti_2011_10_03_drive_0027_synced/`
### [hdl_localization](https://github.com/koide3/hdl_localization)
1. New Terminal: `roslaunch hdl_localization hdl_localization.launch`
2. New Terminal: `rviz` (config: /dev_ws/src/hdl_localization/rviz/)
3. New Terminal: `rosbag play /datasets/kitti/kitti_2011_10_03_drive_0027_synced.bag`
### [BM-Loc](https://github.com/YixFeng/Block-Map-Based-Localization)
Downlaod the example data from the GitHub and switch the data in Bms_for_test/M2DGR_Bms/M2DGR/street_01/ with your data.
If you only have a single map, rename your map to 000.pcd and remove everything besides the 000.pcd and the CentroidCloud.pcd.
1. New Terminal: `roslaunch block_localization run_m2dgr.launch`
2. New Terminal: `rosbag play /datasets/kitti/kitti_2011_10_03_drive_0027_synced.bag`
### [range-mcl](https://github.com/PRBonn/range-mcl)
*not yet tested*
### [LiDAR-Localization-100FPS](https://github.com/ShiPC-AI/LiDAR-Localization-100FPS)
tbd
### [G3Reg](https://github.com/HKUST-Aerial-Robotics/G3Reg)
tbd
### [PALoc](https://github.com/JokerJohn/PALoc)
tbd
## Troubleshooting
1. If you have problems with the attachment to a display, execute `xhost +` before starting the docker.
## Contribute
Feel free to open an issue and a PR.
If you find a problem, feel free to solve it :)