Offline Lidar SLAM

Maintained by Ragib Arnab

Overview

The Offline Lidar SLAM Python package is responsible for mapping out any environment given consecutive lidar scans in an offline fashion. It uses KISS-ICP for odometry, MapClosures for loop closure detection, and g2o for pose graph optimization. The package is meant for “offline” use, meaning use on recorded ROS bags without any real-time restrictions. The output is a folder containing all local maps along with their poses in a text file, which can be used fairly easily to stitch together the local maps to form a global map. The output of this SLAM pipeline can be also be used for localization.

offline_lidar_slam.py

A Python script that performs offline lidar SLAM on recorded ROS bags.

Command Line Arguments:

  • bag_path:
    • path to the ROS bag you want to apply lidar SLAM
  • topic_name:
    • name of the topic containing the lidar messages of type PointCloud2
  • save_dir:
    • directory to which SLAM results will be saved to; automatically created if it does not exist

Example Usage 

$ python3 /navigator/src/mapping/offline_lidar_slam/offline_lidar_slam.py /bags/2024/bag_2024-02-09_Demo/ /lidar /navigator/data/maps/slam_results/