s_faster_lio

s_faster_lio (Simple Faster LIO) is a tightly-coupled LiDAR-IMU odometry.

It is a result of integrating S-FAST_LIO (link) and Faster-LIO (link).

This project retains most of the content from S-FAST_LIO and uses the incremental voxel map (IVox) proposed in Faster-LIO to manage point cloud map, replacing the ikdtree used in the original S-FAST_LIO.

The IVox class has also been simplified.

1. Prerequisites

1.1 Ubuntu and ROS

Tested on Ubuntu 20.04 + ROS Noetic

Note: If your Ubuntu version is earlier than 20.04, you may need to install the TBB library. You can reference the faster-lio.

1.2 PCL & Eigen

PCL >= 1.8, Eigen >= 3.3.4.

1.3 livox_ros_driver

Follow the livox_ros_driver Installation.

Source: Add the line source $Livox_ros_driver_dir$/devel/setup.bash to the end of the file ~/.bashrc, where $Livox_ros_driver_dir$ is the directory of the Livox ROS driver workspace (should be the ws_livox directory if you completely followed the Livox official document).

1.4 Sophus

git clone https://github.com/strasdat/Sophus.git
cd Sophus
mkdir build
cd build
cmake ../ -DUSE_BASIC_LOGGING=ON
make
sudo make install

Build

Clone the repository and build it using catkin_make:

git clone to {project_workspace}/src/
cd {project_workspace}
catkin_make
source devel/setup.bash

Run

roslaunch s_faster_lio mapping_velodyne.launch
rosbag play YOUR_DOWNLOADED.bag

7. Acknowledgements

Thanks to these authors for their great work and for making their work open source: FAST_LIO S-FAST_LIO faster-lio