# lvisam_octomap

**Repository Path**: HeGang80/lvisam_octomap

## Basic Information

- **Project Name**: lvisam_octomap
- **Description**: slam based on LVISAM and octomap
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2022-09-27
- **Last Updated**: 2025-12-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

#### SLAM Based on LVI-SAM and Octomap

1.  LVI-SAM repo: https://github.com/TixiaoShan/LVI-SAM


## Install

1.  install dependencies(ceres, gtsam, fcl, ompl):
    https://github.com/TixiaoShan/LVI-SAM
    https://blog.csdn.net/yangrlan/article/details/129415801
    https://github.com/flexible-collision-library/fcl/releases


##  Using

1.  `roslaunch octomapping run.launch`

2.  `roslaunch octomapping demo_color.launch` to generate a octomap with color

3.  use planner.launch to generate a path.

##  Debug

1.  if want to save the octomap,
    ```
    cd ~/yourDir
    rosrun octomap_server octomap_saver -f name.ot
    ```
    use octovis to check out.
    ```
    #install
    sudo apt-get install octovis

    #check your map
    octovis name.ot
    ```
2.  if want to save cloudPoint, check the /lvi-sam/config/params_lidar.yaml
    ```
    gedit ./lvi-sam/config/params_lidar.yaml
    # rewrite your saving directory in 'savePCDDirectory', and set 'savePCD' as true
    ```

3.  using others datasets， using the fisheye mask of same size or turn off the fisheye mask. 

4.  using colored octomap in rviz, convert the colorOccupancyGrid-Voxel Coloring to cell color. Then the color will be shown.

5.  in repo path_planning, the lib fcl version is 0.5.0 release. You can compile it and add the path to cmakelist, or install it.

## Simulation

1.  Read ./src/files/sim/README.md for details.