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Tinker-Twins / LIDAR-SLAM-Robot

ROS 2 Packages for Testing LIDAR-SLAM on a Robotic Vehicle with 3D LIDAR
BSD 3-Clause "New" or "Revised" License
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3d-lidar 3d-perception estimation lidar lidar-slam perception point-cloud robotics robotics-programming ros ros2 slam slam-algorithms

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LIDAR-SLAM-Robot

ROS 2 Packages for Testing LIDAR-SLAM on a Robotic Vehicle with 3D LIDAR.
Robot Simulation (Gazebo) Real-Time Data Visualization (RViz) Saved PCD Map Visualization & Post-Processing (CloudCompare)

Install

  cd ~/ROS2_WS/src
  git clone https://github.com/Tinker-Twins/LIDAR-SLAM-Robot.git
  cd ..
  rosdep install --from-paths src --ignore-src -r -y
  colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Execute

  1. Launch simulation:

    ros2 launch robot_gazebo robot_sim.launch.py

  2. Run the teleoperation node:

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

  3. Launch LIDAR-SLAM node:

    ros2 launch lidarslam lidarslam.launch.py

  4. Launch RViz and load the mapping.rviz configuration:

    rviz2

    Note: Teleoperate the robot around the environment until a satisfactory map is built.

  5. Save the PCD map:

    ros2 service call /map_save std_srvs/Empty

    Note: Map files will be saved to the path pointed by the current terminal window.

Similar Repositories:

https://github.com/Tinker-Twins/LIO-SAM-Robot