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mrs_laser_map - Local Multiresolution Grids for Efficient 3D Laser Mapping and Localization

mrs_laser_map is a mapping system for mobile robots using laser range sensors. It provides efficient local mapping for obstacle perception, and allocentric mapping for autonomous navigation. It has been successfully used on different robotic platforms, such as micro aerial vehicles and ground robots, in different research projects and robotic competitions.

Papers Describing the Approach

David Droeschel, Jörg Stückler, and Sven Behnke: Local Multi-Resolution Representation for 6D Motion Estimation and Mapping with a Continuously Rotating 3D Laser Scanner IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, May 2014

David Droeschel, Jörg Stückler, and Sven Behnke: Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, July 2014.

Overview

The repository contains the following ROS packages:

• mrs_laser_maps: map data structure and surfel-based registration
• mrs_laser_mapping: ROS nodes for local and allocentric mapping
• config_server: parameter server
• parameter_tuner: rqt plugin for config server
• mod_laser_filters: laser filters for preprocessing
• cloud_compression: modified pcl cloud_compression

Dependencies

• Ubuntu 14.04

• ROS Indigo:

sudo apt-get install ros-indigo-desktop-full

• g2o:

sudo apt-get install ros-indigo-libg2o

Make sure you have the latest libg2o ROS package, previous versions were compiled without optimization.

droeschel@flanders:~/catkin_ws$ apt-cache policy ros-indigo-libg2o
ros-indigo-libg2o:
  Installed: 2014.2.18-0trusty-20160321-175501-0700
  Candidate: 2014.2.18-0trusty-20160321-175501-0700

Getting started

Clone the repository in your catkin workspace (here ~/catkin_ws)

cd ~/catkin_ws/src 
git clone https://github.com/AIS-Bonn/mrs_laser_map mrs_laser_map

and build it with catkin_make (or catkin tools):

cd ~/catkin_ws/
catkin_make

Download the sample bagfile and run mav_mapping.launch

roslaunch mrs_laser_mapping mav_mapping.launch

License

mrs_laser_map is licensed under the BSD 3-clause license.

Contact

David Droeschel <droeschel@ais.uni-bonn.de>
Institute of Computer Science VI
Rheinische Friedrich-Wilhelms-Universität Bonn
Friedrich Ebert-Allee 144
53113 Bonn