POINT-LIO-SLAM

This repository provides ready-to-use ROS 2 Humble configuration and launch files for composing FAST-LIO-SAM-QN and lidar_localization_ros2 (original repositories) along with ROS 2 wrapper FAST-LIO-SAM-QN. These configurations are tailored for UniLidar L1 indoor mapping and localization. No new algorithmic code is introduced; instead, this repository packages configuration files, launch scripts, and RViz presets to enable seamless integration and one-command bring-up of the upstream projects. Huge thanks to Muhammed Veli Ünlü for this excellent works.

Dependencies

• C++ >= 17
• OpenMP >= 4.5
• CMake >= 3.10.0
• Eigen >= 3.2
• Boost >= 1.54
• ROS2 Humble (Ubuntu 22.04) or ROS2 Jazzy (Ubuntu 24.04)
• GTSAM
• TEASER++
• TBB (used by Quatro for speed)
• Livox-SDK2 (for UniLidar L1)

Install GTSAM (4.1.1)

wget -O gtsam.zip https://github.com/borglab/gtsam/archive/refs/tags/4.1.1.zip
unzip gtsam.zip
cd gtsam-4.1.1/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
sudo make install -j16

Install TEASER++

git clone https://github.com/MIT-SPARK/TEASER-plusplus.git
cd TEASER-plusplus && mkdir build && cd build
cmake .. -DENABLE_DIAGNOSTIC_PRINT=OFF
sudo make install -j16
sudo ldconfig

Install Livox-SDK2

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build
cd build
cmake .. && make -j
sudo make install

Install TBB

sudo apt install -y libtbb-dev

Workspace layout

Create a ROS 2 workspace and clone the required repositories under src/:

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/alitekes1/POINT-LIO-SLAM.git
git clone https://github.com/alitekes1/lidar_localization_ros2.git 
mkdir third_party && cd third_party
git clone https://github.com/rsasaki0109/ndt_omp_ros2.git
git clone https://github.com/mvu20002/SAM-QN.git
git clone https://github.com/illusionaryshelter/Quatro.git
git clone https://github.com/illusionaryshelter/nano_gicp.git
git clone https://github.com/mvu20002/livox_ros_driver2_humble.git
git clone https://github.com/dfloreaa/point_lio_ros2.git

Build

cd ~/ros2_ws
source /opt/ros/{$ROS_DISTRO}/setup.bash
colcon build --symlink-install
source install/setup.bash

Run

NOTE: The configuration parameters are set for UniLidar L1 on a mobile robot platform. Data used for mapping and localization couldn't be shared due to privacy concerns. However, the configuration files are provided for you to adapt to your own data.

Mapping

To run the mapping process, run the following command:

ros2 launch point-lio-slam mapping.launch.py
# another terminal
ros2 bag play <path_to_ros2_bag>

Localization

Once you have the map, you can use it for localization. Change the path to map in config file localization.yaml to the path of your saved .pcd map. Then, run the following command:

ros2 launch point-lio-slam lidar_localization.launch.py