feat(slam): add lidar SLAM and pointcloud processing packages

2026-01-13 19:12:25 +08:00
parent dcb52622eb
commit ddef31d11a
140 changed files with 29546 additions and 0 deletions
@@ -0,0 +1,128 @@
+cmake_minimum_required(VERSION 3.8)
+project(fast_lio)
+
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+ ADD_COMPILE_OPTIONS(-std=c++17) 
+ ADD_COMPILE_OPTIONS(-std=c++17) 
+ set(CMAKE_CXX_FLAGS "-std=c++17 -O3") 
+  
+ add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\") 
+  
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions") 
+ set(CMAKE_CXX_STANDARD 17) 
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
+
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)")
+  include(ProcessorCount)
+  ProcessorCount(N)
+  message("Processer number:  ${N}")
+
+  if(N GREATER 4)
+    add_definitions(-DMP_EN)
+    add_definitions(-DMP_PROC_NUM=3)
+    message("core for MP: 3")
+  elseif(N GREATER 3)
+    add_definitions(-DMP_EN)
+    add_definitions(-DMP_PROC_NUM=2)
+    message("core for MP: 2")
+  else()
+    add_definitions(-DMP_PROC_NUM=1)
+  endif()
+else()
+  add_definitions(-DMP_PROC_NUM=1)
+endif()
+
+find_package(OpenMP QUIET)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}   ${OpenMP_C_FLAGS}")
+
+find_package(PythonLibs REQUIRED)
+find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
+
+# ROS dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(pcl_ros REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(livox_ros_driver2 REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+set(dependencies
+  rclcpp
+  rclcpp_components
+  geometry_msgs
+  nav_msgs
+  sensor_msgs
+  std_msgs
+  std_srvs
+  visualization_msgs
+  pcl_ros
+  pcl_conversions
+  livox_ros_driver2
+)
+
+# Thirdparty libraries
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common io)
+
+message(Eigen: ${EIGEN3_INCLUDE_DIR})
+message(STATUS "PCL: ${PCL_INCLUDE_DIRS}")
+
+set(msg_files
+  "msg/Pose6D.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+)
+ament_export_dependencies(rosidl_default_runtime)
+
+add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
+target_include_directories(fastlio_mapping PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${PCL_INCLUDE_DIRS}
+)
+target_link_libraries(fastlio_mapping ${PCL_LIBRARIES} ${PYTHON_LIBRARIES} Eigen3::Eigen)
+target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
+
+list(APPEND EOL_LIST "foxy" "galactic" "eloquent" "dashing" "crystal")
+
+if($ENV{ROS_DISTRO} IN_LIST EOL_LIST)
+  # Custommsg to support foxy & galactic
+  rosidl_target_interfaces(fastlio_mapping
+    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+else()
+  rosidl_get_typesupport_target(cpp_typesupport_target
+    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  target_link_libraries(fastlio_mapping ${cpp_typesupport_target})
+endif()
+
+ament_target_dependencies(fastlio_mapping ${dependencies})
+
+# ---------------- Install --------------- #
+install(TARGETS fastlio_mapping
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY config launch rviz
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()