Radar_SLAM

This is a radar slam project which has so much work to do.

Dataset

Mulran

• Download mulran dataset
• Use mulran ROS player to paly dataset

4D Radar Dataset

• SJTU present a novel SLAM dataset containing 4D radar data, LiDAR data and ground truth. It covers different challenging scenes. DOWNLOAD

• Before use this dataset, you should add an additional message package named msgs_radar to your workspace.

cd <your_radar_slam_workspace>/src
git clone https://github.com/xxkklose/msgs_radar.git
cd ..
catkin_make

Getting Started

Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 20.04

ROS >= noetic. ROS Installation.

Installing

Step.1

Clone the repository and catkin_make.

mkdir -p RadarSLAM_ws/src
cd RadarSLAM_ws/src/
git clone https://github.com/xxkklose/Radar_slam.git
cd ..
catkin_make

Run

roslaunch radar_slam run_radar_slam.launch

TODO

• 测试实验
• 速度估计
• 里程计设计
• 回环检测