Livox-SDK/livox_mapping

Livox_mapping

Livox_mapping is a mapping package for Livox LiDARs. The package currently contains the basic functions of low-speed mapping.

Some key issues:

Support multiple livox lidar;
Different feature extraction;
Remove odometry for small FOV situation;

In the development of our package, we reference to LOAM, LOAM_NOTED.

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

1.2. PCL && Eigen && openCV

Follow PCL Installation. Follow Eigen Installation. Follow openCV Installation.

1.3. livox_ros_driver

Follow livox_ros_driver Installation.

2. Build

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/Livox-SDK/livox_mapping.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

Remarks:

If you want to save the pcd file please add map_file_path in launch file.
3. Directly run

3.1 Livox Mid-40

Connect to your PC to Livox LiDAR (mid40) by following Livox-ros-driver installation, then
```
....
roslaunch livox_mapping mapping_mid.launch
roslaunch livox_ros_driver livox_lidar.launch
```

### 3.2 Livox Horizon
Connect to your PC to Livox LiDAR (Horizon) by following  [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then

....
roslaunch livox_mapping mapping_horizon.launch
roslaunch livox_ros_driver livox_lidar_msg.launch

## 4. Rosbag Example
### 4.1 Livox Mid-40 rosbag

<div align="center"><img src="https://github.com/Livox-SDK/livox_mapping/raw/master/doc/results/mid40_hall_01.png" width=90% /></div>

<div align="center"><img src="https://github.com/Livox-SDK/livox_mapping/raw/master/doc/results/mid40_outdoor.png" width=90% /></div>

Download [mid40_hall_example](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_hall_example.bag) or [mid40_outdoor](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_outdoor.bag) 
and then

roslaunch livox_mapping mapping_mid.launch rosbag play YOUR_DOWNLOADED.bag

### 4.2 Livox Mid-100 rosbag

<div align="center"><img src="https://github.com/Livox-SDK/livox_mapping/raw/master/doc/results/mid100_01.png" width=90% /></div>

<div align="center"><img src="https://github.com/Livox-SDK/livox_mapping/raw/master/doc/results/mid100_02.png" width=90% /></div>

Download [mid100_example](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid100_example.bag) and then

roslaunch livox_mapping mapping_mid.launch rosbag play YOUR_DOWNLOADED.bag

### 4.3 Livox Horizon rosbag

<div align="center"><img src="https://github.com/Livox-SDK/livox_mapping/raw/master/doc/results/horizon_outdoor_01.png" width=90% /></div>

<div align="center"><img src="https://github.com/Livox-SDK/livox_mapping/raw/master/doc/results/horizon_parking_01.png" width=90% /></div>

Download [horizon_parking](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/horizon_parking.bag) or [horizon_outdoor](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/horizon_outdoor.bag) 
and then

roslaunch livox_mapping mapping_horizon.launch rosbag play YOUR_DOWNLOADED.bag


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