# FAST\_LIO\_SLAM

## What is FAST\_LIO\_SLAM?

- FAST\_LIO\_SLAM is the integration of FAST\_LIO and SC-PGO which is scan context based loop detection and GTSAM based pose-graph optimization.

## Repository Information

### Original Repository link

[https://github.com/gisbi-kim/FAST\_LIO\_SLAM](<https://github.com/gisbi-kim/FAST_LIO_SLAM>)

### Required Sensors

- LIDAR \[Livox, Velodyne, Ouster\]
- IMU \[6-AXIS, 9-AXIS\]
- GPS \[OPTIONAL\]

### ROS Compatibility

- ROS 1

### Dependencies

- ROS
- PCL
- GTSAM

```bash
wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install
```

- PCL \>= 1.8, Follow [PCL Installation](<https://pointclouds.org/downloads/#linux>).
- Eigen \>= 3.3.4, Follow [Eigen Installation](<https://libeigen.gitlab.io/eigen/docs-3.3/>).

## Build &amp; Run

### 1\) Build

```bash
    mkdir -p ~/catkin_fastlio_slam/src
    cd ~/catkin_fastlio_slam/src
    git clone https://github.com/gisbi-kim/FAST_LIO_SLAM.git
    git clone https://github.com/Livox-SDK/livox_ros_driver
    cd ..
    catkin_make
    source devel/setup.bash
```

### 2\) Set parameters

- Set imu and lidar topic on `FAST-LIO/config/ouster64.yaml`

### 3\) Run

```bash
    # terminal 1: run FAST-LIO2
    roslaunch fast_lio mapping_ouster64.launch

    # open the other terminal tab: run SC-PGO
    cd ~/catkin_fastlio_slam
    source devel/setup.bash
    roslaunch aloam_velodyne fastlio_ouster64.launch

    # play bag file in the other terminal
    rosbag play xxx.bag --clock --pause
```

## Example Result

## Other Examples

- [Tutorial video 1](<https://youtu.be/nu8j4yaBMnw>) (using KAIST 03 sequence of [MulRan dataset](<https://sites.google.com/view/mulran-pr/dataset>))

  - Example result captures
  - [download the KAIST 03 pcd map](<https://www.dropbox.com/s/w599ozdg7h6215q/KAIST03.pcd?dl=0>) made by FAST-LIO-SLAM, 500MB

- [Example Video 2](<https://youtu.be/94mC05PesvQ>) (Riverside 02 sequence of [MulRan dataset](<https://sites.google.com/view/mulran-pr/dataset>))

  - Example result captures
  - [download the Riverside 02 pcd map](<https://www.dropbox.com/s/1aolth7ry4odxo4/Riverside02.pcd?dl=0>) made by FAST-LIO-SLAM, 400MB

## Acknowledgements

- Thanks for [FAST\_LIO](<https://github.com/hku-mars/FAST_LIO>) authors.
- You may have an interest in [this version of FAST-LIO + Loop closure](<https://github.com/yanliang-wang/FAST_LIO_LC>), implemented by [yanliang-wang](<https://github.com/yanliang-wang>)
- Maintainer: Giseop Kim (`paulgkim@kaist.ac.kr`)