LIDAR-SLAM-Robot

ROS 2 Packages for Testing LIDAR-SLAM on a Robotic Vehicle with 3D LIDAR.

Robot Simulation (Gazebo)	Real-Time Data Visualization (RViz)	Saved PCD Map Visualization & Post-Processing (CloudCompare)

Install

cd ~/ROS2_WS/src
git clone https://github.com/Tinker-Twins/LIDAR-SLAM-Robot.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Execute

1. Launch simulation:

ros2 launch robot_gazebo robot_sim.launch.py

2. Run the teleoperation node:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

3. Launch LIDAR-SLAM node:

ros2 launch lidarslam lidarslam.launch.py

4. Launch RViz and load the mapping.rviz configuration:

rviz2

Note: Teleoperate the robot around the environment until a satisfactory map is built.

4. Save the PCD map:

ros2 service call /map_save std_srvs/Empty

Note: Map files will be saved to the path pointed by the current terminal window.

Similar Repositories:

https://github.com/Tinker-Twins/LIO-SAM-Robot