AVP-SLAM-PLUS

AVP-SLAM-PLUS

AVP-SLAM-PLUS is an implementation of AVP-SLAM and some new contributions. Performance of AVP-SLAM-PLUS could be found in video(https://www.bilibili.com/video/BV11R4y137xb/)

mapping

localization

AVP-SLAM-PLUS contain a simple implementation of AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot(IROS 2020) and some new contributions.

The new contribustions are as follows: Firstly,the system provide two camera style mode which are multi RGB cameras mode and multi RGBD cameras mode; Secondly,the system provide two registration mode which are ICP mode and NDT mode. Lastly,the system provide mapping mode and localization mode, that means you can not only do SLAM,but also do localization in a prior map.

AVP-SLAM-PLUS Framework

This code is simple and is a good learning material for SLAM beginners.

Author: Liu Guitao

Email: [email protected]

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 18.04.ROS Melodic. ROS Installation

1.2 Clone AVP-SLAM-PLUS and Load Gazebo Model

    cd ~/catkin_ws/src
    git clone https://github.com/liuguitao/AVP-SLAM-PLUS.git
    cd AVP-SLAM-PLUS/avp_slam_plus/model/
    unzip my_ground_plane.zip -d ~/.gazebo/models/

2. Build AVP-SLAM-PLUS

    cd ~/catkin_ws
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3. RUN Example

3.1 RGB Mode

save map

if you want to save map and use the map to do localization, you should ensure your config file have be correctely set. The config file is at AVP-SLAM-PLUS/avp_slam_plus/configFile.yaml

    mapSave: true
    mapSaveLocation: your map file address 

3.1.1 Mapping

    roslaunch avp_slam_plus slamRGB.launch

open a new terminal, control robot move.

    roslaunch robot_control robot_control.launch

if you firstly control robot move, you should ensure robot_control.py in AVP-SLAM-PLUS/simlate_gazebo/robot_control/ to be executable. you can do this command to let robot_control.py to be executable.

    chmod +777 robot_control.py

3.1.2 Localization

if you have do 3.1.1 and “save map”, you can do localization in the prior map.

    roslaunch avp_slam_plus localizationRGB.launch

open a new terminal, control robot move

    roslaunch robot_control robot_control.launch

3.2 RGBD Mode

save map

if you want to save map and use the map to do localization, you should ensure your config file have be correctely set. The config file is at AVP-SLAM-PLUS-main/avp_slam_plus/configFile.yaml

    mapSave: true
    mapSaveLocation: your map file address 

3.2.1 Mapping

    roslaunch avp_slam_plus slamRGBD.launch

open a new terminal, control robot move

    roslaunch robot_control robot_control.launch

3.2.2 Localization

if you have do 3.2.1 and “save map”, you can do localization in the prior map.

    roslaunch avp_slam_plus localizationRGBD.launch

open a new terminal, control robot move

    roslaunch robot_control robot_control.launch

4.Acknowledgements

Thanks for AVP_SLAM(Tong Qin, Tongqing Chen, Yilun Chen, and Qing Su:Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot),

Thanks for TurtleZhong(https://github.com/TurtleZhong/AVP-SLAM-SIM), whose simulated environment help me a lot.

Thanks for huchunxu(https://github.com/huchunxu/ros_exploring), whose simulated robot model help me a lot.