# xchu_slam

**Repository Path**: liebewill/xchu_slam

## Basic Information

- **Project Name**: xchu_slam
- **Description**: 基于NDT前端+简单回环:xchu slam
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2021-08-04
- **Last Updated**: 2021-08-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# XCHU_SLAM

## Introduction

xchu_odom添加回环，参考LEGO-LOAM

![image-20201124154817082](README/image-20201124154817082.png)

![image-20201125061549588](README/image-20201125061549588.png)

高度上偏移纠正回来了。

![image-20201125061617522](README/image-20201125061617522.png)

## Dependency

- [GTSAM](https://github.com/borglab/gtsam/releases)(Georgia Tech Smoothing and Mapping library, 4.0.0-alpha2)

## Usage

### Run the package

1. Run the launch file:

```shell
roslaunch xchu_slam  mapping.launch 
```

2. Play existing bag files kitti, bag包播放时请0.1倍速，因为目前性能上还未优化，在bag包播放完成后，建图也将结束，后续将处理成离线的，逐帧处理。ctrl+c关闭终端则自动保存地图。

```shell
rosbag play kitti_2011_10_03_drive_0027_synced.bag --clock -r 0.1
```

## Issues

- 线程安全
- 目前imu和编码器不可用，请设置为false
- pitch 的累计误差导致高度漂移问题
- 位姿有抖动情况

## TODOs

- 雷达惯导紧耦合
- 基于GPS的回环检测