GALS (GNSS-Augmented LiDAR SLAM)

GALS is a method that augments the existing LiDAR-based SLAM systems with raw GNSS measurements with the use of factor graph optimization.

Installation

Requirements

• ROS

Clone GALS package

• $ git clone https://github.com/kcwian/GALS.git

Clone and build g2o

• $ cd GALS && mkdir EXTERNAL && git clone https://github.com/RainerKuemmerle/g2o.git
• $ cd g2o && mkdir build && cd build
• $ cmake .. -DG2O_HAVE_OPENGL=ON -DCMAKE_SKIP_RPATH=ON
• $ make -j4
• $ sudo make install

Build GALS package

• catkin build gals

Modify gals.launch file

• Set path of rover's GNSS observation data (RINEX file)

    <arg name="roverMeasureFile" default="" />

• Set paths to GNSS navigation data (RINEX file)

    <param name="navigationFile{1..5}" type="string" value="" />

• Set slamOdometryPath (TUM format with timestamps converted to GNSS time (week seconds))

    <arg name="slamOdometryPath" default="" />

Run package

• source ../devel/setup.bash
• roslaunch gals gals.launch

References

• RTKLIB
• g2o