mola_sm_loop_closure

Simplemap loop-closure postprocessing library and CLI tool

Links

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.