README.md

Package srrg2_laser_slam_2d

Multi-cue 2D-LiDAR-based SLAM pipeline. It can support multiple rangefinders and wheel odometry.

How to build

The srrg2_laser_slam_2d is developed using our srrg2 framework. All our software is tested both with Ubuntu 18.04 and 16.04 (GCC 5 and 7), still the remaining of this guide refers to Ubuntu 18.04. Please follow this guide to build and run srrg2_laser_slam_2d on your machine:

1. initialize the srrg2 Catkin workspace following the guide here. As indicated in the aforementioned guide, we suggest to have a directory in which you clone all the srrg2 repositories (referred here as SRRG2_SOURCE_ROOT) and a directory that contains the Catkin workspace (referred here as SRRG2_WS_ROOT)

2. clone all the srrg2 dependencies of this package

cd <SRRG2_SOURCE_ROOT>
git clone https://github.com/srrg-sapienza/srrg2_cmake_modules.git # basic cmake-modules
git clone https://gitlab.com/srrg-software/srrg_hbst.git # VPR library (to compute loop closures in Visual-SLAM pipelines)
git clone https://github.com/srrg-sapienza/srrg2_core.git # core data-structures and
git clone https://github.com/srrg-sapienza/srrg2_solver.git # solver (both for registration and global optimization)
git clone https://github.com/srrg-sapienza/srrg2_qgl_viewport.git # viewport
git clone https://github.com/srrg-sapienza/srrg2_slam_interfaces.git # SLAM interfaces

3. clone this repository

cd <SRRG2_SOURCE_ROOT>
git clone https://github.com/srrg-sapienza/srrg2_laser_slam_2d.git

4. link all the required packages in your Catkin workspace

cd <SRRG2_WS_ROOT>/src
ln -s <SRRG2_SOURCE_ROOT>/srrg2_cmake_modules .
ln -s <SRRG2_SOURCE_ROOT>/srrg_hbst/ .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_core/srrg2_core .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_core/srrg2_core_ros .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_solver/srrg2_solver .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_qgl_viewport/srrg2_qgl_viewport .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_slam_interfaces/srrg2_slam_interfaces .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_laser_slam_2d/srrg2_laser_slam_2d .

5. build using Catkin

cd <SRRG2_WS_ROOT>
catkin build srrg2_laser_slam_2d

6. [OPTIONAL] build unit-tests using catkin

cd <SRRG2_WS_ROOT>
catkin build srrg2_laser_slam_2d --catkin-make-args tests

How to run

You should use our package srrg2_executor to run the pipeline. In the configurations directory you will find two configuration file templates that can be used with this dataset:

• stage_segway_double_config_LASER_0: uses only the front rangefinder + wheel odometry.
• stage_segway_double_config_MULTI: uses both front and rear rangefinders + wheel odometry.

Example Output