LiDAR S-Graphs

LiDAR Situational Graphs (S-Graphs) is a ROS2 package for generating in real-time four-layered hierarchical factor graphs representing a scene graph using 3D LiDAR which includes Keyframes registring the robot poses, Walls which map wall planes, Rooms Layer constraining the wall planes using 4 wall-room or 2 wall-room factors, Floors constraining the rooms within a given floor level. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor). We have tested this package mostly with Velodyne (VLP16) sensors in structured indoor environments. This work is a fork of hdl_graph_slam which as previously in ROS1.

📜 Table of contents

• 📖 Published Papers
• ⚙️ Installation
  • 📦 Installation From Source
    • ROS1 Optional
  • 🐳 Docker
• 🚀 Examples on Datasets
• 🛠️ Run S_Graphs On Your Data
• 🤖 ROS Related
  • 📥 Subscribed Topics
  • 📤 Published Topics
  • 🔄 ROS Services
  • ⚙️ ROS Parameters
  • 🌐 Published TFs
• 🧪 Unit Tests

📖 Published Papers

⚙️ Installation

[!NOTE] S-Graphs+ was only tested on Ubuntu 20.04, ROS2 Foxy, Humble Distros. We strongly recommend using cyclone_dds instead of the default fastdds.

📦 Installation From Source

[!IMPORTANT] Before proceeding, make sure you have rosdep installed. You can install it using sudo apt-get install python3-rosdep In addition, ssh keys are needed to be configured on you GitHub account. If you haven’t yet configured ssh keys, follow this tutorial

1. Update Rosdep:

rosdep init && rosdep update --include-eol-distros

1. Create a ROS2 workspace for S-Graphs

mkdir -p $HOME/workspaces && cd $HOME/workspaces

1. Clone the S-Graphs repository into the created workspace

git clone git@github.com:snt-arg/lidar_situational_graphs.git -b feature/ros2 s_graphs 

[!IMPORTANT]

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