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A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on Quatro and Nano-GICP

License: Other

CMake 5.38% C++ 94.62%

lidar-inertial-odometry lidar-slam loop-closure odometry pose-estimation slam

fast-lio-sam-qn's Introduction

Interest 😮

Unmanned Aerial Vehicle, Exploration, LiDAR(Visual)-Inertial Odometry, SLAM, Active SLAM,
Control, Obstacle avoidance, Coverage Path Planning

🛠 Skills 🛠

More about me 🙂

📌 Pinned repos 📌

👓🔧 Analysis and utils

⚙️ Algorithms

🤖 Simulations

fast-lio-sam-qn's People

Contributors

Stargazers

Watchers

Forkers

defe41251135 zhangxuanxuan71 zhl8223 kelebujiabing lizeyu000-code qianqian121 wwtx wumingbai zjg1210 nujabes2 russ76 mfkiwl amazingsealock

fast-lio-sam-qn's Issues

Question about the repo

Hi, thank you for your great work. I'm having some problems testing your code.

After I run the following command roslaunch fast_lio_sam_qn run.launch lidar:=ouster, two rvizs appear on the screen.

The following is displayed in the terminal:

started core service [/rosout]
process[rviz_lio-2]: started with pid [7151]
process[rviz_sam-3]: started with pid [7152]
process[fast_lio_sam_qn_node-4]: started with pid [7153]
process[laserMapping-5]: started with pid [7154]
Multi thread started 
p_pre->lidar_type 3
~~~~/home/liang/fastliosamqn/src/FAST-LIO-SAM-QN/third_party/FAST_LIO/ file opened
[ WARN] [1698307158.405163953]: Main class, starting node...

After I play the bag，terminal display:

QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)

And I found that the point cloud in one of them doesn't move, and the other one seems to be the result of lio-sam.
After a while，terminal display:

[fast_lio_sam_qn_node-4] process has died [pid 7153, exit code -11, cmd /home/liang/fastliosamqn/devel/lib/fast_lio_sam_qn/fast_lio_sam_qn_node __name:=fast_lio_sam_qn_node __log:=/home/liang/.ros/log/8febb6a8-73d5-11ee-870b-3c7c3f4c5a16/fast_lio_sam_qn_node-4.log].
log file: /home/liang/.ros/log/8febb6a8-73d5-11ee-870b-3c7c3f4c5a16/fast_lio_sam_qn_node-4*.log

Is this normal? Can you give me some advice?

There is an error detection issue with the Avia dataset

First of all, thank you very much for such a great job!
But I had a problem using it to provide .bag for FAST-LIO-Localization-QN, and it showed a wrong correction on the dataset, which looks like a mismatch in the loopback detection module due to the similarity of the scenes? My dataset is using the dataset provided in FAST_LIO_LOCALIZATION

A problem when catkin build

Hi.
Thanks for your work!
But sadly i meet the problem as follows when catkin build:

Is this normal? Can you give me some advice?

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