https://github.com/leggedrobotics/open3d_slam_private
This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.
https://github.com/leggedrobotics/open3d_slam_private
Last synced: 11 months ago
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This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.
- Host: GitHub
- URL: https://github.com/leggedrobotics/open3d_slam_private
- Owner: leggedrobotics
- Created: 2023-10-30T17:09:59.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2025-06-30T10:40:12.000Z (about 1 year ago)
- Last Synced: 2025-06-30T11:44:37.526Z (about 1 year ago)
- Language: C++
- Size: 52.9 MB
- Stars: 1
- Watchers: 12
- Forks: 1
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
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README
# open3d_slam_private
This project provides tools for robot **LiDAR-based mapping and localization**.
This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.
## Build
For now to build this repository, you need to:
1. make sure CMake version is correct
2. install dependencies from `open3d_catkin`
3. install dependencies for `open3d_slam`
Clone the repository to:
``` bash
cd catkin_ws/src
git clone git@github.com:leggedrobotics/open3d_slam_private.git
```
1. Make sure your CMake > 3.18
```bash
cmake --version
```
**If NOT** install the cmake from https://cmake.org/download download tar.
Unpack tar and
``` bash
cd cmake-
./configure
make -j
sudo make install
```
2. Install the necessary dependencies from `open3d_catkin`:
```bash
cd open_3d_slam_rsl/open3d_catkin/
./install_deps.sh
```
3. Install libraries required from `open3d-slam`
```bash
sudo apt install libgoogle-glog-dev libglfw3 libglfw3-dev liblua5.2-dev
```
4. Install `message_logger` from Anybotics (Temporary) by cloning it to `catkin_ws/src`
```bash
git clone git@github.com:ANYbotics/message_logger.git
```
And finally:
```bash
cd catkin_ws
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build
```
## Use
```bash
source devel/setup.sh
```
To perform **mapping**, call:
```bash
roslaunch open3d_slam_ros mapping.launch
```
While playing the rosbag file:
```bash
rosbag play --clock --pause -s 0 -r 1.0 .bag
```
Make sure you have correct topics for lidar point clouds and odometry.