毕业设计持续汇总。

SLAM WITH L515

Installation

1. Ubuntu and ROS

   1.1 - Ubuntu 64-bit 18.04 installation

   1.2 - ROS melodic installation

2. Ceres Solver

   2.1 - Ceres Solver installation

   or you can type the following commands of step 2.2:

   2.2 - Install Eigen3 and Ceres Solver directly from terminal

   Eigen part:

   git clone -b 3.3 https://gitlab.com/libeigen/eigen.git eigen
   

   cd /eigen/
   

   mkdir build
   

   sudo cmake .. && sudo make -j2 && sudo make install
   

   Ceres Solver part:

git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver

sudo apt install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev

cd ceres-solver

sudo cmake ../ceres-solver # i am not sure if this is the exact command, if you have a problem read the error message and debug

sudo make -j2 && sudo make install

1. gtsam

   git clone https://github.com/borglab/gtsam.git gtsam
   

   cd gtsam
   

   mkdir build
   

   sudo cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
   

   sudo make -j2 && sudo make install
   

2. PCL 1.8.1

wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.1.tar.gz && tar zvfx pcl-1.8.1.tar.gz

cd pcl-1.8.1

mkdir build

sudo cmake .. && sudo  make -j2  && sudo make install

sudo apt install -y ros-melodic-pcl-conversions ros-melodic-pcl-ros

1. hector trajectory server

   sudo apt install -y ros-melodic-hector-trajectory-server
   

2. Sensor L515 Installation

   6.1 librealsense installation

   or you can type:

   sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
   

   if you have a problem:

Do the following changes at your linux system in order to work:

cd /etc/apt

sudo nano sources.list

and then do the following changes:

Add the server to the list of repositories:

Ubuntu 16 LTS:

sudo add-apt-repository “deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main” -u

sudo add-apt-repository “deb http://librealsense.intel.com/Debian/apt-repo xenial main” -u

Ubuntu 18 LTS:

sudo add-apt-repository “deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main” -u

sudo add-apt-repository “deb http://librealsense.intel.com/Debian/apt-repo bionic main” -u

Ubuntu 20 LTS:

sudo add-apt-repository “deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo focal main” -u

sudo add-apt-repository “deb http://librealsense.intel.com/Debian/apt-repo focal main” -u

i replaced the first sudo with the second in each case inside the /etc/apt/sources.list file in my linux system.

this solution came from here: **issue link**

Now let’s **continue librealsense installation:**

git clone https://github.com/IntelRealSense/librealsense.git

sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev

sudo apt-get install libglfw3-dev

./scripts/setup_udev_rules.sh

./scripts/patch-realsense-ubuntu-lts.sh

echo 'hid_sensor_custom' | sudo tee -a /etc/modules

6.2 realsense-ros installation

cd ~/catkin_ws/src

git clone https://github.com/IntelRealSense/realsense-ros.git

cd ..

catkin_make

1. Build ssl-slam2

   cd ~/catkin_ws/src
   

   git clone https://github.com/wh200720041/ssl_slam2.git
   

   cd ..
   

   catkin_make
   

   source ~/catkin_ws/devel/setup.bash
   

2. Update l515 firmware

   l515 firmware update procedure

   Record data

open two tabs in terminal:

• 1st tab:

  roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
  

• 2nd tab:

  rosbag record /camera/color/camera_info /camera/color/image_raw /camera/depth/camera_info /camera/depth/color/points /camera/depth/image_rect_raw /camera/extrinsics/depth_to_color /tf /tf_static -O name-of-my-file.bag
  

  ---

  SLAM data, Create 3D model and Save to your pc

• first, navigate to

  cd ~/catkin_ws/src/ssl_slam2/launch/
  

• next, type

 sudo nano ssl_slam2_mapping.launch

• and change in this line (3rd):

  node name=”bag” pkg=”rosbag” type=”play” args=”–clock -r 0.5 $(env HOME)/name-of-my-file.bag” /

  the name of the file in the end, just like i did, in order the algorithm to be able to read your pre-recorder .bag file and perform the ssl_slam2 algorithm on it.

Now we are ready to slam and save:

open three tabs in terminal:

• 1st tab:

  roscore
  

• 2nd tab: ```sh roslaunch ssl_slam2 ssl_slam2_mapping.launch

 - 3rd tab:
```sh
rosrun pcl_ros pointcloud_to_pcd input:=/map

Now, at your home folder, you will find the .pcd files of your 3D model.

Put them inside the folder, and using a stable version of the cloudcompare open them and save them as .E57 pointcloud format if you want.

That’s all folks. Good luck. In the future i will try to improve this guide.

Here is a slam result using slowly an L515 lidar sensor and the ssl-slam2 algorithm:

for more info, here is the link of the official ssl_slam2 repo:

• https://github.com/wh200720041/ssl_slam2

and some useful links from issues:

• https://github.com/wh200720041/ssl_slam2/issues/3
• https://github.com/IntelRealSense/realsense-ros/issues/1076#issuecomment-586702026
• https://github.com/wh200720041/ssl_slam/issues/2

在Nvidia的Jeston Nano上测试

Connecting Intel L515 Lidar Camera With Jetson Nano

Many ppl have been facing this issue and some even said this dosent work, so here is a small guide how to do it.

A) First we will setup our Jetson Nano (You can skip this if you have installed jetpack)

Refer the following link for installing Jetpack on Jetson Nano https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#intro

B) Now we need to install Intel Realsense on Jetson nano, you can refer the article linked here https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md to do custon installation, or you could follow the steps mentioned below.

Open the terminal on ypour jetson nano and put the following commands.

1) $ git clone https://github.com/JetsonHacksNano/installLibrealsense

2) $ cd installLibrealsense

3) $ ./installLibrealsense.sh

To start the realsense Viewer

4) $ realsense-viewer

C) So we have completed the software side here. Now to connect the L515 liDAR Camera with jetson nano we need to set it to Max power mode(That is 5v 4A, connected via barrel jack or usb c), or else the jetson Nano would power off as the L515 requires more power. Follow the steps givenbelow if you havent already configured it to Max power mode. (Please use a good Quality 5v 4A like this one https://rarecomponents.com/store/5v-6a-dc-power-supply-jetson-nano )

1. Turn off the Jetson Nano and disconnect everything connected to it.
2. Use a jumper and connect it to pin J48
3. Now connect the power adapter on the barel jack port
4. Start the nano and on the dextop navigate to power setting
5. Click on power mode and set it to “Maxn”

d) Now connect L515 to Jetson Nano and start the realsense viewer by using the command

$ realsense-viewer

here is my jetson connected to L515 with realsense viewer turned on

I have also done Mapping using the Lidar and Jetson via ROS, (the 3d map is overlaping due to some IMU related bug)

参考文献：

[1] https://github.com/Robotislove/Slam-with-L515—Bellos.git