4DRadarSLAM 方案部署

4DRadarSLAM方案部署

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参考教程：

GitHub - zhuge2333/4DRadarSLAM

cp - Google 云端硬盘

Ubuntu20.04LTS上运行4Dradar_slam_20.04 4dradar-CSDN博客

1. 查看系统环境

要运行本仿真程序，需要保证当前环境为ubuntu20.04+ros-noetic-desktop-full

查看ubuntu版本：

rosnoetic@rosnoetic-VirtualBox:~$ lsb_release -a

No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 20.04.6 LTS
Release:	20.04
Codename:	focal

可知，当前ubuntu版本满足20.04

查看ros版本：

rosnoetic@rosnoetic-VirtualBox:~$ rosversion -d

noetic

可知，当前ros版本满足noetic

2. 安装依赖

2.1 安装Eigen3

ctrl+alt+T打开终端，执行如下指令安装Eigen3：

rosnoetic@rosnoetic-VirtualBox:~$ sudo apt update

rosnoetic@rosnoetic-VirtualBox:~$ sudo apt install libeigen3-dev

2.2 安装OpenMP

gcc自带的，如果没有直接安装gcc 。

可以运行下面这条指令，安装gcc（gcc，g++，camke一并全安装上）

rosnoetic@rosnoetic-VirtualBox:~$ sudo apt install build-essential

2.3 PCL安装

ctrl+alt+T打开终端，执行如下指令安装PCL。

rosnoetic@rosnoetic-VirtualBox:~$ sudo apt install libpcl-dev

2.4 安装g2o

ctrl+alt+T打开终端，安装依赖项

rosnoetic@rosnoetic-VirtualBox:~$ sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3

• 依赖下载过程

  

下载源码：

GitHub - RainerKuemmerle/g2o: g2o: A General Framework for Graph Optimization

将g2o-master.zip压缩包拖拽至虚拟机的主文件夹下

点击g2o-master.zip，右键，选择“提取到此处”

将g2o-master文件夹命名为g2o

执行如下指令编译g2o

rosnoetic@rosnoetic-VirtualBox:~$ cd g2o/

rosnoetic@rosnoetic-VirtualBox:~/g2o$ mkdir build

rosnoetic@rosnoetic-VirtualBox:~/g2o$ cd build/

rosnoetic@rosnoetic-VirtualBox:~/g2o/build$ cmake ..

• cmake …

  

rosnoetic@rosnoetic-VirtualBox:~/g2o/build$ make -j4

• make -j4

  

rosnoetic@rosnoetic-VirtualBox:~/g2o/build$ sudo make install

• sudo make install

  

2.5 安装gtsam

参考教程：

Ubuntu20.04安装GTSAM，运行LIO-SAM_gtsam4.0.3-CSDN博客

• 增加交换空间

  首先关闭交换分区

  rosnoetic@rosnoetic-VirtualBox:~$ sudo swapoff /swapfile
  

  接着创建分区， 4 * 1024 = 4096创建 4 G 的内存分区

  rosnoetic@rosnoetic-VirtualBox:~$ sudo dd if=/dev/zero of=/swapfile bs=1M count=4096
  

  

  继续执行如下指令：

  rosnoetic@rosnoetic-VirtualBox:~$ sudo mkswap /swapfile
  
  rosnoetic@rosnoetic-VirtualBox:~$ sudo swapon /swapfile
  

  

  创建完交换分区之后就可以继续编译。

  也可以查看分区的大小

  rosnoetic@rosnoetic-VirtualBox:~$ free -m
  

编译若是还不成功，试着创建更大的分区。

如果编译使用完成后，可以关闭内存。

```cpp
rosnoetic@rosnoetic-VirtualBox:~$ sudo swapoff /swapfile

rosnoetic@rosnoetic-VirtualBox:~$ sudo rm /swapfile
```

进入如下链接下载gtsam压缩包，当前下载的是Release 4.2

Releases · borglab/gtsam (github.com)

将gtsam压缩包拖拽至虚拟机的主文件夹下，

点击gtsam-4.2.zip，右键，选择“提取到此处”

进入gtsam-4.2文件夹下，执行如下指令进行编译：

rosnoetic@rosnoetic-VirtualBox:~$ cd gtsam-4.2/

rosnoetic@rosnoetic-VirtualBox:~/gtsam-4.2$ mkdir build

rosnoetic@rosnoetic-VirtualBox:~/gtsam-4.2$ cd build/

rosnoetic@rosnoetic-VirtualBox:~/gtsam-4.2/build$ cmake ..

• cmake …

  

rosnoetic@rosnoetic-VirtualBox:~/gtsam-4.2/build$ make

• make -j4

  

rosnoetic@rosnoetic-VirtualBox:~/gtsam-4.2/build$ sudo make install 

• sudo make install

  

2.6 安装依赖

ctrl+alt+T打开终端，执行如下指令安装依赖：

rosnoetic@rosnoetic-VirtualBox:~$ sudo apt-get install ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs ros-noetic-libg2o

• 安装依赖

  

3. 编译4DRadarSLAM

3.1 创建工作空间

ctrl+alt+T打开终端，执行如下指令创建工作空间

rosnoetic@rosnoetic-VirtualBox:~$ mkdir -p 4dradar_slam_ws/src

3.2 源码下载

下载4DRadarSLAM、fast_apdgicp、barometer_bmp388、ndt_omp源码：

• 4DRadarSLAM

  https://github.com/zhuge2333/4DRadarSLAM

  

• fast_apdgicp

  https://github.com/zhuge2333/fast_apdgicp

  

• barometer_bmp388

  https://github.com/zhuge2333/barometer_bmp388

  

• ndt_omp

  https://github.com/koide3/ndt_omp

  

当前为了去掉压缩包里面的master字眼，我们人为的对压缩包进行重命名，并压缩：

将7z压缩包拖拽至/4dradar_slam_ws/src文件夹下，点击压缩包，右键，选择”提取到此处”：

3.3 编译

ctrl+alt+T打开终端，执行如下指令编译程序：

rosnoetic@rosnoetic-VirtualBox:~$ cd 4dradar_slam_ws/

rosnoetic@rosnoetic-VirtualBox:~/4dradar_slam_ws$ catkin_make

• catkin_make

  

4. 运行4DRadarSLAM

4.1 添加数据集

进入如下链接，下载数据集：

https://drive.google.com/drive/folders/14jVa_dzmckVMDdfELmY32fJlKrZG1Afv

把作者提供的数据集下载下来，ctrl+alt+T打开终端，执行如下指令创建一个文件夹carpark_400：

rosnoetic@rosnoetic-VirtualBox:~$ mkdir carpark_400

将carpark1_2022-02-26.bag数据集拖拽至carpark_400文件夹：

修改launch文件夹中 rosbag_play_radar_carpark1.launch 文件中路径

<arg name="path" default="/home/rosnoetic/"/>

4.2 运行

ctrl+alt+T打开终端，执行如下指令启动slam程序：

rosnoetic@rosnoetic-VirtualBox:~$ cd 4dradar_slam_ws/

rosnoetic@rosnoetic-VirtualBox:~/4dradar_slam_ws$ source ./devel/setup.bash

rosnoetic@rosnoetic-VirtualBox:~/4dradar_slam_ws$ roslaunch radar_graph_slam radar_graph_slam.launch 

• radar_graph_slam.launch

  <?xml version="1.0"?>
  <launch>
    <!-- Parameters -->
    <rosparam file="$(find radar_graph_slam)/config/params.yaml" command="load" />
    <param name="use_sim_time" value="true"/>
    
    <!-- arguments -->
    <arg name="nodelet_manager" default="radarslam_nodelet_manager" />
    <arg name="enable_floor_detection" default="false" />
    <arg name="enable_barometer" default="false" /> <!-- barometer altitude constraint, not used -->
    <arg name="barometer_edge_type" default="1" /> <!-- not used -->
    <arg name="enable_gps" default="false" />
    <arg name="enable_dynamic_object_removal" default="false" />
    <arg name="enable_frontend_ego_vel" default="false" />
    <arg name="enable_preintegration" default="false" /> <!-- not used -->
  
    <arg name="keyframe_delta_trans_front_end" default="0.5" />
    <arg name="keyframe_delta_trans_back_end" default="2" /><!-- 1 2 -->
    <arg name="keyframe_delta_angle" default="0.2612" /><!-- 10°: 0.1745 15°: 0.2612 -->
  
    <arg name="enable_transform_thresholding" default="true" />
    <arg name="enable_loop_closure" default="false" />
    
    <!-- ICP NDT_OMP FAST_GICP FAST_APDGICP FAST_VGICP   -->
    <arg name="registration_method" default="FAST_APDGICP" />
    <arg name="reg_resolution" default="1.0" />
    
    <arg name="dist_var" default="0.86" />
    <arg name="azimuth_var" default="0.5" />
    <arg name="elevation_var" default="1.0" /><!-- 1.0 -->
  
    <!-- optional arguments -->
    <arg name="enable_robot_odometry_init_guess" default="false" /> <!-- not used -->
  
    <!-- transformation between lidar and base_link -->
    <!-- <node pkg="tf" type="static_transform_publisher" name="lidar2base_publisher" args="0 0 0 0 0 0 base_link velodyne 10" /> -->
    
    <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen"/>
  
    <!-- radar_preprocessing_nodelet -->
    <node pkg="nodelet" type="nodelet" name="radar_preprocessing_nodelet" args="load radar_graph_slam/PreprocessingNodelet $(arg nodelet_manager)">
      <!-- distance filter -->
      <param name="use_distance_filter" value="true" />
      <param name="distance_near_thresh" value="2" />
      <param name="distance_far_thresh" value="100.0" />
      <param name="z_low_thresh" value="-100.0" />
      <param name="z_high_thresh" value="100.0" />
      <!-- NONE, VOXELGRID(0.1), or APPROX_VOXELGRID -->
      <param name="downsample_method" value="VOXELGRID" />
      <param name="downsample_resolution" value="0.1" />
      <!-- NONE, RADIUS 2(initial 0.5 2), STATISTICAL, or BILATERAL -->
      <param name="outlier_removal_method" value="RADIUS" />
      <param name="statistical_mean_k" value="30" />
      <param name="statistical_stddev" value="1.2" />
      <param name="radius_radius" value="0.5" />
      <param name="radius_min_neighbors" value="1" />
      <param name="bilateral_sigma_s" value="5" />
      <param name="bilateral_sigma_r" value="0.03" />
      <!-- Power Filterring -->
      <param name="power_threshold" value="0.0" />
      <!-- Ego Velocity Estimation -->
      <param name="enable_dynamic_object_removal" value="$(arg enable_dynamic_object_removal)" />
      <!-- ground truth publication -->
      <param name="gt_file_location" value="/home/zhuge/datasets/Radar/gt_carpark1.txt" />
    </node>
  
    <!-- scan_matching_odometry_nodelet -->
    <node pkg="nodelet" type="nodelet" name="scan_matching_odometry_nodelet" args="load radar_graph_slam/ScanMatchingOdometryNodelet $(arg nodelet_manager)">
      <param name="keyframe_delta_trans" value="$(arg keyframe_delta_trans_front_end)" />
      <param name="keyframe_delta_angle" value="$(arg keyframe_delta_angle)" /> 
      <param name="keyframe_min_size" value="100" />
      <param name="enable_robot_odometry_init_guess" value="$(arg enable_robot_odometry_init_guess)" />
      <param name="enable_transform_thresholding" value="$(arg enable_transform_thresholding)" />
      <param name="enable_imu_thresholding" value="false" /> <!-- bad effect, not used -->
      <param name="max_acceptable_trans" value="1.0" />
      <param name="max_acceptable_angle" value="3" /><!-- degree -->
      <param name="max_diff_trans" value="0.3" />
      <param name="max_diff_angle" value="0.8" />
      <param name="max_egovel_cum" value="1" /><!-- 12m/s -->
      <param name="downsample_method" value="NONE" />
      <param name="downsample_resolution" value="0.1" />
      <!-- ICP, GICP, NDT, GICP_OMP, NDT_OMP, FAST_GICP(recommended), or FAST_VGICP -->
      <param name="registration_method" value="$(arg registration_method)" />
      <param name="dist_var" value="$(arg dist_var)" /><!--  -->
      <param name="azimuth_var" value="$(arg azimuth_var)" /><!--  -->
      <param name="elevation_var" value="$(arg elevation_var)" /><!--  -->
      <param name="reg_num_threads" value="0" />
      <param name="reg_transformation_epsilon" value="0.1"/>
      <param name="reg_maximum_iterations" value="64"/>
      <param name="reg_max_correspondence_distance" value="2.0"/>
      <param name="reg_max_optimizer_iterations" value="20"/>
      <param name="reg_use_reciprocal_correspondences" value="false"/>
      <param name="reg_correspondence_randomness" value="20"/>
      <param name="reg_resolution" value="$(arg reg_resolution)" />
      <param name="reg_nn_search_method" value="DIRECT7" />
      <param name="use_ego_vel" value="$(arg enable_frontend_ego_vel)"/>
      <param name="max_submap_frames" value="5"/>
      <param name="enable_scan_to_map" value="false"/>
      <!-- IMU --> <!-- bad effect, not used -->
      <param name="enable_imu_fusion" value="false" />
      <param name="imu_debug_out" value="true" />
      <param name="imu_fusion_ratio" value="0.1" />
    </node>
  
    <!-- radar_graph_slam_nodelet -->
    <node pkg="nodelet" type="nodelet" name="radar_graph_slam_nodelet" args="load radar_graph_slam/RadarGraphSlamNodelet $(arg nodelet_manager)" output="screen">
      <!-- optimization params -->
      <!-- typical solvers: gn_var, gn_fix6_3, gn_var_cholmod, lm_var, lm_fix6_3, lm_var_cholmod, ... -->
      <param name="g2o_solver_type" value="lm_var_cholmod" />
      <param name="g2o_solver_num_iterations" value="512" />
      <!-- constraint switches -->
      <param name="enable_barometer" value="$(arg enable_barometer)" /> <!-- not used -->
      <param name="enable_gps" value="$(arg enable_gps)" />
      <!-- keyframe registration params --> 
      <param name="max_keyframes_per_update" value="30" />
      <param name="keyframe_delta_trans" value="$(arg keyframe_delta_trans_back_end)" />
      <param name="keyframe_delta_angle" value="$(arg keyframe_delta_angle)" />
      <param name="keyframe_min_size" value="500" />
      <!-- fix first node for optimization stability -->
      <param name="fix_first_node" value="true"/>
      <param name="fix_first_node_stddev" value="10 10 10 1 1 1"/>
      <param name="fix_first_node_adaptive" value="true"/>
      <!-- Scan Context Loop Closure params 15 25 15 2.5 -->
      <param name="enable_loop_closure" value="$(arg enable_loop_closure)"/>
      <param name="enable_pf" value="true"/> <!-- loop prefiltering -->
      <param name="enable_odom_check" value="true"/>
      <param name="distance_thresh" value="10.0" />
      <param name="accum_distance_thresh" value="50.0" /><!-- Minimum distance beteen two edges of the loop -->
      <param name="min_loop_interval_dist" value="10.0" /><!-- Minimum distance between a new loop edge and the last one -->
      <param name="distance_from_last_edge_thresh" value="10" />
      <param name="max_baro_difference" value="2.0" /><!-- Maximum altitude difference beteen two edges' odometry -->
      <param name="max_yaw_difference" value="20" /><!-- Maximum yaw difference beteen two edges' odometry -->
      
      <param name="sc_dist_thresh" value="0.5" /><!-- Matching score threshold of Scan Context 0.4-0.6 will be good -->
      <param name="sc_azimuth_range" value="56.5" />
      <param name="historyKeyframeFitnessScore" value="6" />
      <param name="odom_check_trans_thresh" value="0.3" />
      <param name="odom_check_rot_thresh" value="0.05" />
      <param name="pairwise_check_trans_thresh" value="1.5" />
      <param name="pairwise_check_rot_thresh" value="0.2" />
      <!-- scan matching params -->
      <param name="registration_method" value="$(arg registration_method)" />
      <param name="reg_num_threads" value="0" />
      <param name="reg_transformation_epsilon" value="0.1"/>
      <param name="reg_maximum_iterations" value="64"/>
      <param name="reg_max_correspondence_distance" value="2.0"/>
      <param name="reg_max_optimizer_iterations" value="20"/>
      <param name="reg_use_reciprocal_correspondences" value="false"/>
      <param name="reg_correspondence_randomness" value="20"/>
      <param name="reg_resolution" value="$(arg reg_resolution)" />
      <param name="reg_nn_search_method" value="DIRECT7" />
      <!-- edge params -->
      <!-- Barometer not used -->
      <param name="barometer_edge_type" value="$(arg barometer_edge_type)" />
      <param name="barometer_edge_robust_kernel" value="Huber" />
      <param name="barometer_edge_robust_kernel_size" value="1.0" />
      <param name="barometer_edge_stddev" value="0.47" /> <!-- 0.47 -->
      <!-- GPS -->
      <param name="gps_edge_robust_kernel" value="Huber" />
      <param name="gps_edge_robust_kernel_size" value="1.0" />
      <param name="gps_edge_stddev_xy" value="5.0" />
      <param name="gps_edge_stddev_z" value="5.0" />
      <param name="max_gps_edge_stddev_xy" value="1.5" />
      <param name="max_gps_edge_stddev_z" value="3.0" />
      <param name="gps_edge_intervals" value="15" />
      <param name="dataset_name" value="loop2" />
      <!-- Preintegration --> <!-- bad effect, not used -->
      <param name="enable_preintegration" value="$(arg enable_preintegration)" />
        <param name="use_egovel_preinteg_trans" value="false" /><!-- Ego Velocity Integration - Translation -->
        <param name="preinteg_orient_stddev" value="1" />
        <param name="preinteg_trans_stddev" value="5" />
      <!-- scan matching -->
      <!-- robust kernels: NONE, Cauchy, DCS, Fair, GemanMcClure, Huber, PseudoHuber, Saturated, Tukey, Welsch -->
      <param name="odometry_edge_robust_kernel" value="NONE" />
      <param name="odometry_edge_robust_kernel_size" value="1.0" />
      <param name="loop_closure_edge_robust_kernel" value="Huber" />
      <param name="loop_closure_edge_robust_kernel_size" value="1.0" />
      <param name="use_const_inf_matrix" value="false" />
      <param name="const_stddev_x" value="0.5" />
      <param name="const_stddev_q" value="0.1" />
      <param name="var_gain_a" value="20.0" />
      <param name="min_stddev_x" value="0.1" />
      <param name="max_stddev_x" value="5.0" />
      <param name="min_stddev_q" value="0.05" />
      <param name="max_stddev_q" value="0.2" />
      <!-- update params -->
      <param name="graph_update_interval" value="2.0" />
      <param name="map_cloud_update_interval" value="6.0" />
      <param name="map_cloud_resolution" value="0.05" />
      <!-- marker params -->
      <param name="show_sphere" value="false" />
    </node>
  
    <node pkg="rviz" type="rviz" name="rviz_slam" args="-d $(find radar_graph_slam)/rviz/radar_graph_slam.rviz" respawn="true"/>
  
    <!--- Rosbag Play -->
    <include file="$(find radar_graph_slam)/launch/rosbag_play_radar_carpark1.launch" />
    <!-- <include file="$(find radar_graph_slam)/launch/rosbag_play_radar_carpark3.launch" /> -->
    <!-- <include file="$(find radar_graph_slam)/launch/rosbag_play_radar_garden.launch" /> -->
    <!-- <include file="$(find radar_graph_slam)/launch/rosbag_play_radar_nanyanglink.launch" /> -->
    <!-- <include file="$(find radar_graph_slam)/launch/rosbag_play_radar_ntuloop1.launch" /> -->
    <!-- <include file="$(find radar_graph_slam)/launch/rosbag_play_radar_ntuloop2.launch" /> -->
    <!-- <include file="$(find radar_graph_slam)/launch/rosbag_play_radar_ntuloop3.launch" /> -->
    <!-- <include file="$(find radar_graph_slam)/launch/rosbag_play_radar_smoke.launch" /> -->
  
  </launch>