From 6018237e7d9bfc63728502540e0a8af6d7b17fdc Mon Sep 17 00:00:00 2001 From: Andreu Huguet Date: Fri, 4 Mar 2022 17:46:52 +0100 Subject: [PATCH 1/2] Update working fixes --- README.md | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index b0937bc..ffab95f 100644 --- a/README.md +++ b/README.md @@ -70,9 +70,11 @@ Sometimes a higher map quality is needed, now a new ``high_quality_publish`` par Xaloc's "fast" dataset. High velocity in the straights (~15m/s) and tight turns (~80deg/s).

-Try ``xaloc.launch`` with Xaloc's own rosbags. Find a ``slow`` and a ``fast`` run in this [Dropbox](https://www.dropbox.com/sh/4116xoc7srps6a5/AAC3q1h50swG7fRMI3USNn2la?dl=0). +Try ``xaloc.launch`` with Xaloc's own rosbags. +- :checkered_flag: Find a ``slow`` (818MB) and a ``fast`` (1.71GB) run in [this Dropbox folder](https://www.dropbox.com/sh/4116xoc7srps6a5/AAC3q1h50swG7fRMI3USNn2la?dl=0). -See Issue [#10](https://github.com/Huguet57/LIMO-Velo/issues/10) to see other sample datasets found in the web. Don't hesitate to ask there for more data on specific scenarios/cases. +See Issue [#10](https://github.com/Huguet57/LIMO-Velo/issues/10) to see other sample datasets found in the web. +Don't hesitate to ask there for more data on specific scenarios/cases. # Using LIMO-Velo @@ -107,14 +109,15 @@ Relevant parameters are: - [FAST-LIO2](https://github.com/hku-mars/FAST_LIO): Fast and Direct LIO SLAM # TODO list -### Urgent fixes +### Fixes in progress +- [ ] Work with 9-DOF IMUs +- [ ] Saving and loading HD-Maps (needs 9-DOF done) +- [ ] Adding GPS as extra input - [ ] Rethink ``mapping_offline`` (see Discussions) -- [ ] Adding Livox as a LiDAR type -- [ ] Rewrite the most confusing parts according to [qpc001's feedback](https://github.com/qpc001/LIMO-Velo/commit/a45b6489cbbcefc68515565eeaeaed267c976da8). (thank you!) ### Design choices - [ ] Renew Buffer private structure. Interesting answer in StackOverflow: [https://stackoverflow.com/a/67236232](https://stackoverflow.com/a/67236232) -- [ ] Simplify the upsampling in the Compensator. (called it.) +- [ ] Simplify the upsampling in the Compensator. ### Fixes to investigate - [ ] Interpolation and smoothing of states when mapping offline From b84bf47bae6367af3c07dc703b0a1ff94599832b Mon Sep 17 00:00:00 2001 From: Andreu Huguet Date: Tue, 15 Mar 2022 14:44:13 +0100 Subject: [PATCH 2/2] Tested on Melodic (and 18.04) --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index ffab95f..106aa5f 100644 --- a/README.md +++ b/README.md @@ -44,8 +44,8 @@ Developing an algorithm for a team requires the algorithm to be easy enough to u - Livox (check ``livox`` git branch) # Dependencies -- [Ubuntu](https://ubuntu.com) (tested on 20.04) -- [ROS](http://wiki.ros.org/ROS/Installation) (tested on Noetic) +- [Ubuntu](https://ubuntu.com) (tested on 18.04, 20.04) +- [ROS](http://wiki.ros.org/ROS/Installation) (tested on Melodic, Noetic) - [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) - [PCL](http://www.pointclouds.org/downloads/linux.html) (tested on 1.8)