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wh200720041 / floam

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021
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If anyone wanted a compatibility with ROS2 Foxy version, I made a fork #57

Open Chris7462 opened 1 year ago

Chris7462 commented 1 year ago

This isn't meant to be a PR, so sorry for making one, but I didn't find another way to notify anyone who might be interested. As you may know, the current repository is made to work with Ubuntu 18.04 and ROS Melodic, which are old and incompatible. I tried searching for one which was compatible with the latest version of ROS2 but with no luck, so I decided to make one: https://github.com/Chris7462/floam Hopefully somebody will find it useful.

popfishy commented 1 year ago

Thanks very much.

chrissunny94 commented 9 months ago

floam_bug_ceres

@Chris7462 , is there a bug in the latter version Ceres solver . Because it crashes while turning .

Kindly test it with Kitti dataset , it goes haywire just after the first turn .

Chris7462 commented 9 months ago

@Chris7462 , is there a bug in the latter version Ceres solver . Because it crashes while turning .

Kindly test it with Kitti dataset , it goes haywire just after the first turn .

@chrissunny94, Yes, I am aware of this issue, and I believe it originates from the Ceres solver itself. To test this hypothesis, I created the g2o branch, changed the Ceres solver to g2o without modifying the cost function and jacobian, and observed that the problem disappeared.

As of now, the root cause remains unknown. Any insights you may have regarding this issue is welcome.

chrissunny94 commented 9 months ago

@Chris7462 , is there a bug in the latter version Ceres solver . Because it crashes while turning . Kindly test it with Kitti dataset , it goes haywire just after the first turn .

@chrissunny94, Yes, I am aware of this issue, and I believe it originates from the Ceres solver itself. To test this hypothesis, I created the g2o branch, changed the Ceres solver to g2o without modifying the cost function and jacobian, and observed that the problem disappeared.

As of now, the root cause remains unknown. Any insights you may have regarding this issue is welcome.

So nice of you , let me try .

But will be on a look out for a solution via Ceres as well !

Tried it , works with ROS2 Foxy !

But has some issue with ROS2 humble . tracking in the following following ticket . https://github.com/RainerKuemmerle/g2o/issues/742

Chris7462 commented 9 months ago

@Chris7462 , is there a bug in the latter version Ceres solver . Because it crashes while turning . Kindly test it with Kitti dataset , it goes haywire just after the first turn .

@chrissunny94, Yes, I am aware of this issue, and I believe it originates from the Ceres solver itself. To test this hypothesis, I created the g2o branch, changed the Ceres solver to g2o without modifying the cost function and jacobian, and observed that the problem disappeared. As of now, the root cause remains unknown. Any insights you may have regarding this issue is welcome.

So nice of you , let me try .

But will be on a look out for a solution via Ceres as well !

Tried it , works with ROS2 Foxy !

But has some issue with ROS2 humble . tracking in the following following ticket . RainerKuemmerle/g2o#742

I'm not sure how you installed g2o, but I've tested my g2o branch on both Foxy and Humble, and it worked without any issues. Note that I don't have ros-\<distro>-libg2o installed, but I have installed the g2o in the system.

chrissunny94 commented 9 months ago

@Chris7462 , is there a bug in the latter version Ceres solver . Because it crashes while turning . Kindly test it with Kitti dataset , it goes haywire just after the first turn .

@chrissunny94, Yes, I am aware of this issue, and I believe it originates from the Ceres solver itself. To test this hypothesis, I created the g2o branch, changed the Ceres solver to g2o without modifying the cost function and jacobian, and observed that the problem disappeared. As of now, the root cause remains unknown. Any insights you may have regarding this issue is welcome.

So nice of you , let me try . But will be on a look out for a solution via Ceres as well ! Tried it , works with ROS2 Foxy ! But has some issue with ROS2 humble . tracking in the following following ticket . RainerKuemmerle/g2o#742

I'm not sure how you installed g2o, but I've tested my g2o branch on both Foxy and Humble, and it worked without any issues. Note that I don't have ros--libg2o installed, but I have installed the g2o in the system.

Yes agree , it works with g2o installed on the system .

Thank you