# LeGO-LOAM-BOR

## What is LeGO-LOAM-BOR?

- LeGO-LOAM-BOR is improved version of the LeGO-LOAM by improving quality of the code, making it more readable and consistent. Also, performance is improved by converting processes to multi-threaded approach.

## Repository Information

### Original Repository link

[https://github.com/facontidavide/LeGO-LOAM-BOR](<https://github.com/facontidavide/LeGO-LOAM-BOR>)

### Required Sensors

- LIDAR \[VLP-16\]
- IMU \[9-AXIS\]

### ROS Compatibility

- ROS 1

### Dependencies

- ROS Melodic [ROS Installation](<http://wiki.ros.org/ROS/Installation>)
- PCL [PCL Installation](<https://pointclouds.org/downloads/>)
- Gtsam [GTSAM Installation](<https://gtsam.org/get_started/>)

```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
```

## Build &amp; Run

### 1\) Build

```bash
cd ~/catkin_ws/src
git clone https://github.com/facontidavide/LeGO-LOAM-BOR.git
cd ..
catkin_make
```

### 2\) Set parameters

- Set parameters on `LeGO-LOAM/config/loam_config.yaml`

### 3\) Run

```bash
source devel/setup.bash
roslaunch lego_loam_bor run.launch rosbag:=/path/to/your/rosbag lidar_topic:=/velodyne_points
```

## Example Result

## Cite *LeGO-LOAM*

Thank you for citing our *LeGO-LOAM* paper if you use any of this code:

```bibtex
@inproceedings{legoloam2018,
  title={LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain},
  author={Tixiao Shan and Brendan Englot},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4758-4765},
  year={2018},
  organization={IEEE}
}
```