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How to run A-LOAM 3D SLAM on reComputer

Introduction to A-LOAM​

A-LOAM is an advanced implementation of the original LOAM (Lidar Odometry and Mapping) algorithm by J. Zhang and S. Singh. The key features of A-LOAM include:

  • Real-time LiDAR odometry and mapping.
  • Simplified code structure using Eigen and Ceres Solver.
  • High performance and robustness in diverse environments.

A-LOAM can be used for various applications including autonomous driving, robotics, and 3D mapping.

This wiki provides detailed steps to set up and run the A-LOAM (Advanced LOAM) algorithm on reComputer Jetson Series using a RoboSense RS32 LiDAR sensor. A-LOAM is an advanced implementation of LOAM (Lidar Odometry and Mapping in Real-time) that utilizes Eigen and Ceres Solver for efficient and real-time mapping and localization.

Prerequisites​

Getting Started​

Environment Setup​

  • Step 1: Install gflags, google-glog, suitesparse, cxsparse3, cxsparse.
    sudo apt-get install libgflags-dev libgoogle-glog-dev
    sudo apt-get install libsuitesparse-dev libcxsparse3 libcxsparse-dev
  • Step 2: Install PCL (Point Cloud Library).
    sudo apt install libpcl-dev
  • Step 3: Install Ceres.
    wget ceres-solver.org/ceres-solver-1.14.0.tar.gz
    tar xvf ceres-solver-1.14.0.tar.gz
    cd ceres-solver-1.14.0
    mkdir build
    cd build
    cmake ..
    make -j4 
    sudo make install
  • Step 4: Clone the A-LOAM code into the src directory of your workspace (~/catkin_ws/src).
    cd ~/catkin_ws/src
    git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git

Modify Configuration Files and Source Code​

  • Step 1: Since the A-LOAM algorithm requires the point cloud type to be XYZIRT, and the RS32 LiDAR default output is XYZI, you need to modify the CMakeLists.txt file at line 8 in the ~/catkin_ws/src/rslidar_sdk/ directory, changing XYZI to XYZIRT.

  • Step 2: The default point cloud topic that A-LOAM subscribes to is /velodyne_points, while the RS32 LiDAR default output topic is /rslidar_points. Therefore, modify the topic name at line 26 in the ~/catkin_ws/src/rslidar_sdk/config/config.yaml file to /velodyne_points.

  • Step 3: If you are using C++14, modify line 5 in the CMakeLists.txt file located in the ~/catkin_ws/src/A-LOAM/ directory, changing C++11 to C++14.

  • Step 4: If you are using OpenCV 4.x, you need to update the OpenCV header file references at line 44 in the scanRegistration.cpp file located in the ~/catkin_ws/src/A-LOAM/src directory (this step can be skipped if you are using OpenCV 3.x).

    Replace code

    #include <opencv/cv.h>

    with

    #include <opencv2/opencv.hpp>

  • Step 5: In lines 91 and 93 of ~/catkin_ws/src/A-LOAM/src/kittiHelper.cpp, change CV_LOAD_IMAGE_GRAYSCALE to cv::IMREAD_GRAYSCALE

  • Step 6: If you are using tf2, modify all .cpp files (kittiHelper.cpp, laserMapping.cpp, laserOdometry.cpp, scanRegistration.cpp) in the ~/catkin_ws/src/A-LOAM/src/ directory by changing frame_id=/camera_init to frame_id=camera_init, removing only the '/' symbol.

Compile the Package​

  • Step 1: Go back to the workspace and recompile the feature pack and reload the environment.
    cd ~/catkin_ws
    catkin_make
    source ~/catkin_ws/devel/setup.bash

Starting 3D SLAM​

  • Step 1: Running lidar code
      roslaunch rslidar_sdk start.launch
  • Step 2: Running A loam code
    roslaunch aloam_velodyne aloam_velodyne_HDL_32.launch

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