LICO-mid360 using for mid360, it's derived from Coco-LIC.

• Now there has some imrpoved things:
• Added rosbag function;
• Added ikd-tree and ivox to manage local-map.
• Some bug we found:
• When open VIO, the accuracy of the fused odometry is declined.
• Todo:
• I will improved the VIO part.

Prerequisites

• ROS（tested with noetic）
• Eigen 3.3.7
• Ceres 2.0.0
• OpenCV 4
• PCL >= 1.13
• livox_ros_driver
• yaml-cpp

Install

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/Livox-SDK/livox_ros_driver2.git
cd ~/catkin_ws && catkin_make
cd ~/catkin_ws/src
git clone https://github.com/piluohong/LICO-mid360.git
cd ~/catkin_ws && catkin_make
source ~/catkin_ws/devel/setup.bash
cd ~/catkin_ws/src/Coco-LIC && mkdir data

Noted

• pcl >= 1.13 has some bugs with pcl-1.10, we suggested build pcl>=1.13 separtely.

Run

• Download R3LIVE dataset or FAST-LIVO dataset or NTU-VIRAL dataset or LVI-SAM dataset.

• Configure parameters in the config/ct_odometry_xxx.yaml file.

  • log_path: the path to log
  • config_path: the path of config folder
  • bag_path: the file path of rosbag

• Run on R3LIVE dataset for example.

  roslaunch cocolic odometry.launch config_path:=config/ct_odometry_r3live.yaml

  The estimated trajectory is saved in the folder ./src/Coco-LIC/data.

Acknowledgement

Thanks for Coco-LIC, LIO-SAM, FAST-LIO2 && Faster-LIO