# hdl\_graph\_slam

## What is hdl\_graph\_slam?

- An open source ROS package for real-time 6DOF SLAM using a 3D LIDAR. It is based on 3D Graph SLAM with NDT scan matching-based odometry estimation and loop detection. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor), and floor plane (detected in a point cloud).

## Repository Information

### Original Repository link

[https://github.com/koide3/hdl\_graph\_slam](<https://github.com/koide3/hdl_graph_slam>)

### Required Sensors

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

### ROS Compatibility

- ROS 1

### Dependencies

- ROS
- PCL
- g2o
- OpenMP

The following ROS packages are required:

- geodesy
- nmea\_msgs
- pcl\_ros
- [ndt\_omp](<https://github.com/koide3/ndt_omp>)
- [fast\_gicp](<https://github.com/koide3/fast_gicp>)

## Build &amp; Run

### 1\) Build

```bash
# for melodic
sudo apt-get install ros-melodic-geodesy ros-melodic-pcl-ros ros-melodic-nmea-msgs ros-melodic-libg2o
cd catkin_ws/src
git clone https://github.com/koide3/ndt_omp.git -b melodic
git clone https://github.com/koide3/fast_gicp.git --recursive
git clone https://github.com/koide3/hdl_graph_slam

cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release

# for noetic
sudo apt-get install ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs ros-noetic-libg2o

cd catkin_ws/src
git clone https://github.com/koide3/ndt_omp.git
git clone https://github.com/koide3/fast_gicp.git --recursive
git clone https://github.com/koide3/hdl_graph_slam

cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release
```

### 2\) Set parameter

- Set lidar topic on `launch/hdl_graph_slam_400.launch`

- Set registration settings on `launch/hdl_graph_slam_400.launch`

### 3\) Run

```bash
rosparam set use_sim_time true
roslaunch hdl_graph_slam hdl_graph_slam_400.launch
```

```bash
roscd hdl_graph_slam/rviz
rviz -d hdl_graph_slam.rviz
```

```bash
rosbag play --clock hdl_400.bag
```

Save the generated map by:

```bash
rosservice call /hdl_graph_slam/save_map "resolution: 0.05
destination: '/full_path_directory/map.pcd'"
```

## Example Result

## Example2 (Outdoor)

Bag file (recorded in an outdoor environment):

- [hdl\_400.bag.tar.gz](<http://www.aisl.cs.tut.ac.jp/databases/hdl_graph_slam/hdl_400.bag.tar.gz>) (raw data, about 900MB)

```bash
rosparam set use_sim_time true
roslaunch hdl_graph_slam hdl_graph_slam_400.launch
```

```bash
roscd hdl_graph_slam/rviz
rviz -d hdl_graph_slam.rviz
```

```bash
rosbag play --clock hdl_400.bag
```

## Papers

Kenji Koide, Jun Miura, and Emanuele Menegatti, A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement, Advanced Robotic Systems, 2019 [\[link\]](<https://www.researchgate.net/publication/331283709_A_portable_three-dimensional_LIDAR-based_system_for_long-term_and_wide-area_people_behavior_measurement>).

## Contact

Kenji Koide, [k.koide@aist.go.jp](<mailto:k.koide@aist.go.jp>), [https://staff.aist.go.jp/k.koide](<https://staff.aist.go.jp/k.koide>)

[\[Active Intelligent Systems Laboratory, Toyohashi University of Technology, Japan\]](<http://www.aisl.cs.tut.ac.jp>)  
[\[Mobile Robotics Research Team, National Institute of Advanced Industrial Science and Technology (AIST), Japan\]](<https://www.aist.go.jp/aist_e/contact/index.html>)