Radar_SAM
所属分类：GPS编程
开发工具：C++
文件大小：65KB
下载次数：1
上传日期：2021-06-25 07:30:02
上 传 者：
sh-1993
说明： 基于LIO_SAM二次开发的,使用4D毫米波雷达 gps imu的radar_slam方法
(LIO based_ SAM secondary development, RADAR using 4D millimeter wave radar gps imu_ Slam method)
文件列表:
.vscode (0, 2021-06-25)
.vscode\c_cpp_properties.json (279, 2021-06-25)
.vscode\settings.json (104, 2021-06-25)
CMakeLists.txt (2724, 2021-06-25)
LICENSE (1512, 2021-06-25)
config (0, 2021-06-25)
config\params.yaml (8097, 2021-06-25)
config\params_gps.yaml (8113, 2021-06-25)
include (0, 2021-06-25)
include\utility.h (12267, 2021-06-25)
launch (0, 2021-06-25)
launch\debug.launch (594, 2021-06-25)
launch\gps_run.launch (606, 2021-06-25)
launch\include (0, 2021-06-25)
launch\include\config (0, 2021-06-25)
launch\include\config\gps.rviz (16669, 2021-06-25)
launch\include\config\robot.urdf.xacro (965, 2021-06-25)
launch\include\config\robot_gps.urdf.xacro (1228, 2021-06-25)
launch\include\config\rviz.rviz (16706, 2021-06-25)
launch\include\module_loam.launch (532, 2021-06-25)
launch\include\module_loam_gdb.launch (577, 2021-06-25)
launch\include\module_navsat.launch (769, 2021-06-25)
launch\include\module_navsat_gps.launch (758, 2021-06-25)
launch\include\module_robot_state_publisher.launch (398, 2021-06-25)
launch\include\module_robot_state_publisher_gps.launch (403, 2021-06-25)
launch\include\module_rviz.launch (213, 2021-06-25)
launch\include\module_rviz_gps.launch (212, 2021-06-25)
launch\include\rosconsole (0, 2021-06-25)
launch\include\rosconsole\rosconsole_error.conf (75, 2021-06-25)
launch\include\rosconsole\rosconsole_info.conf (74, 2021-06-25)
launch\include\rosconsole\rosconsole_warn.conf (74, 2021-06-25)
launch\run.launch (590, 2021-06-25)
msg (0, 2021-06-25)
msg\cloud_info.msg (710, 2021-06-25)
package.xml (1361, 2021-06-25)
src (0, 2021-06-25)
src\featureExtraction.cpp (10388, 2021-06-25)
src\imageProjection.cpp (25825, 2021-06-25)
... ...
#### Radar-SAM
**前端ICP 后端SAM 正在开发中**
## 各分支简述
# master分支
为ICP前端+RS回环检测
# dev分支
目前主要在这个分支开发,为ICP前端+SC回环检测+添加gps边
# Newman分支
目前基本废弃,只是做一些尝试性的工作,包括尝试将前端更换为NewmanICP,以及开始局部建图,效果不佳
## 传感器配置和数据结构
* **`imu`** ([sensor_msgs::Imu])
包括六轴陀螺仪和加速度计,以及从三轴绝对方向角计算而来的 orientation.
* **`gps`** ([sensor_msgs::NavSatFix])
gps
* **`4D毫米波雷达`** ([sensor_msgs::PointCloud2])
使用4D毫米波雷达覆盖智能驾驶车辆周围空间,本例一共使用5个
#### 依赖和安装
* **`依赖`**
本项目依赖项和LIO-SAM完全相同,详见如下:
```
https://github.com/TixiaoShan/LIO-SAM
```
* **`安装`**
```
mkdir src
cd src
git clone https://github.com/hilbertletanger/Radar_SAM.git
cd ..
catkin_make
```
* **`运行`**
```
source devel/setup.bash
roslaunch radar_sam run.launch
```
#### 整体介绍 TODO
* **算法**
* **参数**
* **注意**
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