ADD-SLAM (Adaptive Density Drive)

Operating Ouster LiDAR (OS0 - 64) on Ubuntu 20.04.12

Adaptive Speed Optimization for SLAM Using KISS-ICP on a Rover Robot.

1. Ouster-SDK

1.1 Basic Setup

1.1.1 Clone SLAM_project repository

git clone --recurse-submodules https://github.com/davidseong8914/SLAM_project.git

or

git clone https://github.com/davidseong8914/SLAM_project.git
git submodule update --init --recursive

1.1.2 Install necessary packages

sudo apt update
sudo apt install python3.8-venv 
sudo apt install build-essential cmake libssl-dev python3-dev
pip install --upgrade pip setuptools wheel
pip install cmake
pip install ouster-sdk
pip list | grep ouster # to check ouster installation

1.2 Hardware Setup

1.2.1 Ethernet Connection (1Gb)

*** On Windows - Network Settings > Automatic (DHCP)
*** On Ubuntu - Network Settings > eth0: Link-Local

1.2.2 Power LiDAR

Battery (29.6V) - Converter (24V, >1000mAh + Low Voltage Buzzer) - LiDAR

1.3 Software Setup

# virtual environment
python3 -m venv slam_project
source slam_project/bin/activate

# checking ethernet connection
nmcli connection show
# expected response
Wired connection 1 ethernet enp2s0 # HAS TO BE IN GREEN

When configuring for the first time

# check LiDAR connection
ping <LiDAR IP> # this should work
# type this on the web and it should lead you to sensor information
<LiDAR IP>
# on the LiDAR information page
## Navigate to "Configurations" tab > "UDP Destination Address" > "Set Local" > "Apply Config"

1.4 Using LiDAR

1.4.1 Realtime point cloud visualization

# shows realtime point cloud data
ouster-cli source <LiDAR IP> viz

1.4.2 ouster-sdk live SLAM

# Ouster-sdk -> slam
ouster-cli source <sensor_ip> slam viz -r0 --acum-map --accum-map-ratio 0.05

# THIS DOES KISS-ICP SLAM
~/Desktop/SLAM_project$ ouster-cli source <sensor_ip> slam viz -r1 --map

# this runs and saves as .osf (can also save as .las, .ply)
ouster-cli source <sensor_ip> slam viz save test.osf

# for SLAM_PROJECT
ouster-cli source <sensor_ip> slam -v 0.5 viz save 1_8_2.ply

1.4.5 ouster-sdk recorded SLAM

ouster-cli source bags/scaife_gazebo.bag slam viz -r2 --map
# r2 = point cloud playback rate

# adding voxels dramatically improve visualization
ouster-cli source bags/scaife_gazebo.bag slam -v 2.0 viz -r2 --map

# BEST PERFORMANCE FOR NOW | 2024 NOV 23
ouster-cli source bags/scaife_gazebo.bag slam -v 2.0 viz -r2 --map-ratio 0.01

# try this for cool visuals
# ouster-cli source bags/scaife_gazebo.bag slam -v 5.0 --min-range 50.0 viz -r2 --map

1.4.4 SLAM --help

Ouster-slam documentation

default arguments: Max range, min range, voxel settings

ouster-cli source <sensor_ip> slam --help

  Example values for voxel_size:
      Outdoor: 0.8 - 1.5
      Large indoor: 0.4 - 0.8
      Small indoor: 0.1 - 0.5

*** Small voxel size could give more accurate results but take more memory and longer processing. *** 

Options:
  --max-range FLOAT       Max valid range
  --min-range FLOAT       Min valid range
  -v, --voxel-size FLOAT  Voxel map size
  --help                  Show this message and exit.

save arguments:

ouster-cli source <sensor_ip> slam save --help

Save to an OSF, PCAP, CSV, BAG, PCD, LAS, or PLY with the given filename. If only an extension is provided, the file is named automatically.

visualization arguments:

ouster-cli source <sensor_ip> slam viz --help

-r, --rate [0.25|0.5|0.75|1|1.5|2|3|max] Playback rate.
--accum-num INTEGER             Accumulate up to this number of past scans
                                  for visualization. Use <= 0 for unlimited.
                                  Defaults to 100 if --accum-every or --accum-
                                  every-m is set.
  --accum-every INTEGER           Add a new scan to the accumulator every this
                                  number of scans.
  --accum-every-m FLOAT           Add a new scan to the accumulator after this
                                  many meters of travel.
  --map                           If set, add random points from every scan
                                  into an overall map for visualization.
                                  Enabled if either --map-ratio or --map-size
                                  are set.
  --map-ratio FLOAT               Fraction of random points in every scan to
                                  add to overall map (0, 1]. [default: 0.01]
  --map-size INTEGER              Maximum number of points in overall map
                                  before discarding. [default: 1500000]

1.4.5 Testing

# .ply map to use as input for cloud compare
ouster-cli source <sensor_ip> slam viz --map save test_1.ply 
# viz - visualize
# save compare.ply - save file
# --map - samples points and maps

Sample run (Nov 17 2024)

ouster-cli source <sensor_ip> slam viz --map --map-ratio 0.1 save test_2.ply # experiment with smaller map-ratio

# output
INFO:mapping:Point Cloud status info
12910592 points accumulated during this period,
9225581 down sampling points are removed [71.46 %],
3582933 out range points are removed [27.75 %],
102078 points are saved [0.79 %].
INFO:mapping:Finished point cloud saving.

1.5 CloudCompare

1.5.1 Install Cloud Compare

Install CloudCompare from Link or Ubuntu Software

1.5.2 Obtain 2 Diffrerent Maps(.ply) of the environment

sample code:

ouster-cli source <sensor_ip> slam viz --map save test_1.ply

1.5.3 Compare

follow Link to compare the maps

2. Ouster-ROS

2.1 Setup

Follow instructions at: https://github.com/ouster-lidar/ouster-ros

or

Install necessary ROS packages

sudo apt install -y                     \
    ros-$ROS_DISTRO-pcl-ros             \
    ros-$ROS_DISTRO-rviz

Install dependencies

sudo apt install -y         \
    build-essential         \
    libeigen3-dev           \
    libjsoncpp-dev          \
    libspdlog-dev           \
    libcurl4-openssl-dev    \
    cmake

Think I took care of this, but if ouster-ros is not in the src/ folder

mkdir -p catkin_ws/src && cd catkin_ws/src
git clone --recurse-submodules https://github.com/ouster-lidar/ouster-ros.git

Final touches

echo $ROS_DISTRO #check your ros distro # check ros-distro
source /opt/ros/<ros-distro>/setup.bash # replace ros-distro with 'melodic' or 'noetic'

catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release

2.2 Usage

ouster-ros has 3 modes

live sensor display
replay recorded rosbag
record a new rosbag

1. Sensor Mode
Following code should visualize live LiDAR through rviz

### first tab
roscore

### second tab
roslaunch ouster_ros driver.launch      \
    sensor_hostname:=<sensor host name or ip>

2. Recording Mode
Following code should record pointcloud data and save to SLAM_project/ as "bag file name"

roslaunch ouster_ros record.launch      \
    sensor_hostname:=<sensor host name> \
    bag_file:=<optional bag file name>  # has to be in "name.bag" format

# example command
roslaunch ouster_ros record.launch sensor_hostname:=<sensor ip> bag_file:=test.bag

3. Replay Mode

### first tab
roscore

### second tab
roslaunch ouster_ros replay.launch      \
    bag_file:=<path to rosbag file>     \

# example command
roslaunch ouster_ros replay.launch bag_file:=/home/david/Desktop/SLAM_project/test.bag

# replay in loop | for situations where replay ends before rviz loads
roslaunch ouster_ros replay.launch bag_file:=/home/david/Desktop/SLAM_project/test.bag loop:=true

3. Realsense

realsense SDK: https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

realsense-viewer

https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

roslaunch realsense2_camera rs_camera.launch
rviz # add depth camera, image raw -> but can't overlay 
#roslaunch realsense2_camera rs_camera.launch enable_depth:=true

# this overlays color on depth - subscribe to /camera/depth/color/depth/points
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

4. MISC

4.1 Visualize node graphs

roslaunch ouster_ros replay.launch bag_file:=/home/david/Desktop/SLAM_project/bags/test.bag
rqt_graph # creates a map of what's going on

4.2 Clone KISS-ICP

git clone --branch v0.3.0 --single-branch <LINK>
git clone --branch v0.3.0 --single-branch https://github.com/PRBonn/kiss-icp.git
pip install kiss-icp

cd ~/Desktop/SLAM_project
catkin_make
source devel/setup.bash  # or source install/setup.bash for ROS2

# code that runs kiss-icp
roslaunch kiss_icp odometry.launch bagfile:=/home/david/Desktop/SLAM_project/bags/scaife_gazebo.bag topic:=/point2

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

README.md

README.md

ADD-SLAM (Adaptive Density Drive)

Operating Ouster LiDAR (OS0 - 64) on Ubuntu 20.04.12

1. Ouster-SDK

1.1 Basic Setup

1.1.1 Clone SLAM_project repository

1.1.2 Install necessary packages

1.2 Hardware Setup

1.2.1 Ethernet Connection (1Gb)

1.2.2 Power LiDAR

1.3 Software Setup

When configuring for the first time

1.4 Using LiDAR

1.4.1 Realtime point cloud visualization

1.4.2 ouster-sdk live SLAM

1.4.5 ouster-sdk recorded SLAM

1.4.4 SLAM --help

1.4.5 Testing

1.5 CloudCompare

1.5.1 Install Cloud Compare

1.5.2 Obtain 2 Diffrerent Maps(.ply) of the environment

1.5.3 Compare

2. Ouster-ROS

2.1 Setup

2.2 Usage

3. Realsense

4. MISC

4.1 Visualize node graphs

4.2 Clone KISS-ICP

Files

README.md

Latest commit

History

README.md

File metadata and controls

ADD-SLAM (Adaptive Density Drive)

Operating Ouster LiDAR (OS0 - 64) on Ubuntu 20.04.12

1. Ouster-SDK

1.1 Basic Setup

1.1.1 Clone SLAM_project repository

1.1.2 Install necessary packages

1.2 Hardware Setup

1.2.1 Ethernet Connection (1Gb)

1.2.2 Power LiDAR

1.3 Software Setup

When configuring for the first time

1.4 Using LiDAR

1.4.1 Realtime point cloud visualization

1.4.2 ouster-sdk live SLAM

1.4.5 ouster-sdk recorded SLAM

1.4.4 SLAM --help

1.4.5 Testing

1.5 CloudCompare

1.5.1 Install Cloud Compare

1.5.2 Obtain 2 Diffrerent Maps(.ply) of the environment

1.5.3 Compare

2. Ouster-ROS

2.1 Setup

2.2 Usage

3. Realsense

4. MISC

4.1 Visualize node graphs

4.2 Clone KISS-ICP