😆 LLOL: Low-Latency Odometry for Spinning Lidars

Also see https://github.com/versatran01/rofl-beta.

Reference

LLOL: Low-Latency Odometry for Spinning Lidars

Chao Qu, Shreyas S. Shivakumar, Wenxin Liu, Camillo J. Taylor

https://arxiv.org/abs/2110.01725

https://youtu.be/MmiTMFt9YdU

Usage

Sample data at https://www.dropbox.com/s/v4cth3z7hrqjsvf/raw-perch-loop-2021-09-06-17-22-06.bag?dl=0

Clone https://github.com/KumarRobotics/ouster_decoder

Open rviz using the config in launch/llol.rviz

First run ouster driver

roslaunch ouster_decoder driver.launch

Then run ouster decoder

roslaunch ouster_decoder decoder.launch

Then run odom

roslaunch llol llol.launch

Run bag.

See CMakeLists.txt for dependencies. You may also check our Github Action build file for instructions on how to build LLOL in Ubuntu 20.04 with ROS Noetic.

To run multithread and show timing every 5s do

roslaunch llol llol.launch tbb:=1 log:=5

This is the open-source version, some advanced features may be missing.