feat:first release

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(livox_mapping)
+
+SET(CMAKE_BUILD_TYPE "Debug")
+
+#set(CMAKE_CXX_COMPILER "/usr/bin/clang++")
+
+#set(CMAKE_C_COMPILER "/usr/bin/clang")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -std=c++0x -std=c++14 -fexceptions -Wno-unused-local-typedefs")
+
+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(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  sensor_msgs
+  roscpp
+  rospy
+  std_msgs
+  pcl_ros
+  tf
+  livox_ros_driver
+  )
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
+find_package(OpenCV REQUIRED)
+
+include_directories(
+	${catkin_INCLUDE_DIRS} 
+        ${EIGEN3_INCLUDE_DIR}
+	${PCL_INCLUDE_DIRS})
+
+catkin_package(
+  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
+  DEPENDS EIGEN3 PCL OpenCV
+  INCLUDE_DIRS
+)
+
+add_executable(livox_repub src/livox_repub.cpp)
+target_link_libraries(livox_repub ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
+
+add_executable(loam_scanRegistration src/scanRegistration.cpp)
+target_link_libraries(loam_scanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
+
+add_executable(loam_scanRegistration_horizon src/scanRegistration_horizon.cpp)
+target_link_libraries(loam_scanRegistration_horizon ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
+
+add_executable(loam_laserMapping src/laserMapping.cpp)
+target_link_libraries(loam_laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
+

README.md

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+## Livox_mapping
+Livox_mapping is a mapping package for Livox LiDARs. 
+The package currently contains the basic functions of low-speed mapping.
+
+<div align="center">
+    <img src="doc/results/mid40_hall.gif" width = 45% >
+    <img src="doc/results/horizon_parking.gif" width = 45% >
+</div>
+
+Some key issues:
+1. Support multiple livox lidar;
+2. Different feature extraction;
+3. Remove odometry for small FOV situation;
+
+In the development of our package, we reference to LOAM, LOAM_NOTED.
+## 1. Prerequisites
+### 1.1 **Ubuntu** and **ROS**
+Ubuntu 64-bit 16.04 or 18.04.
+ROS Kinetic or Melodic. [ROS Installation](http://wiki.ros.org/ROS/Installation)
+
+### 1.2. **PCL && Eigen && openCV**
+Follow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).
+Follow [Eigen Installation](http://eigen.tuxfamily.org/index.php?title=Main_Page).
+Follow [openCV Installation](https://opencv.org/releases/).
+
+### 1.3. **livox_ros_driver**
+Follow [livox_ros_driver Installation](https://github.com/Livox-SDK/livox_ros_driver).
+
+
+## 2. Build
+Clone the repository and catkin_make:
+
+```
+    cd ~/catkin_ws/src
+    git clone https://github.com/Livox-SDK/livox_mapping.git
+    cd ..
+    catkin_make
+    source ~/catkin_ws/devel/setup.bash
+```
+
+*Remarks:*
+- If you want to save the pcd file please add map_file_path in launch file.
+## 3. Directly run
+### 3.1 Livox Mid-40
+Connect to your PC to Livox LiDAR (mid40) by following  [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
+```
+    ....
+    roslaunch livox_mapping mapping_mid.launch
+    roslaunch livox_ros_driver livox_lidar.launch
+    
+```
+### 3.2 Livox Horizon
+Connect to your PC to Livox LiDAR (Horizon) by following  [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
+```
+    ....
+    roslaunch livox_mapping mapping_horizon.launch
+    roslaunch livox_ros_driver livox_lidar.launch
+    
+```
+## 4. Rosbag Example
+### 4.1 Livox Mid-40 rosbag
+
+<div align="center"><img src="doc/results/mid40_hall_01.png" width=90% /></div>
+
+<div align="center"><img src="doc/results/mid40_outdoor.png" width=90% /></div>
+
+Download [mid40_hall_example](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_hall_example.bag) or [mid40_outdoor](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_outdoor.bag) 
+and then
+```
+roslaunch livox_mapping mapping_mid.launch
+rosbag play YOUR_DOWNLOADED.bag
+```
+### 4.2 Livox Mid-100 rosbag
+
+<div align="center"><img src="doc/results/mid100_01.png" width=90% /></div>
+
+<div align="center"><img src="doc/results/mid100_02.png" width=90% /></div>
+
+Download [mid100_example](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid100_example.bag) and then
+```
+roslaunch livox_mapping mapping_mid.launch
+rosbag play YOUR_DOWNLOADED.bag
+```
+### 4.3 Livox Horizon rosbag
+
+<div align="center"><img src="doc/results/horizon_outdoor_01.png" width=90% /></div>
+
+<div align="center"><img src="doc/results/horizon_parking_01.png" width=90% /></div>
+
+Download [horizon_parking](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/horizon_parking.bag) or [horizon_outdoor](https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/horizon_outdoor.bag) 
+and then
+```
+roslaunch livox_mapping mapping_horizon.launch
+rosbag play YOUR_DOWNLOADED.bag
+```
+## 5.Acknowledgments
+Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), [LOAM_NOTED](https://github.com/cuitaixiang/LOAM_NOTED).

launch/mapping_horizon.launch

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+<launch>
+
+  <arg name="rviz" default="true" />
+
+  <node pkg="livox_mapping" type="loam_scanRegistration_horizon" name="scanRegistration_horizon" output="screen">
+  </node>
+
+  <node pkg="livox_mapping" type="loam_laserMapping" name="laserMapping" output="screen">
+  <param name="map_file_path" type="string" value=" " />
+  <param name="filter_parameter_corner" type="double" value="0.2" />
+  <param name="filter_parameter_surf" type="double" value="0.4" />
+  </node>
+
+  <node pkg="livox_mapping" type="livox_repub" name="livox_repub" output="screen" >
+  <remap from="/livox/lidar" to="/livox/lidar" />
+  </node>
+
+  <group if="$(arg rviz)">
+    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find livox_mapping)/rviz_cfg/loam_livox.rviz" />
+  </group>
+
+</launch>

launch/mapping_mid.launch

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+<launch>
+
+  <arg name="rviz" default="true" />
+
+  <node pkg="livox_mapping" type="loam_scanRegistration" name="scanRegistration" output="screen">
+  </node>
+
+  <node pkg="livox_mapping" type="loam_laserMapping" name="laserMapping" output="screen">
+  <param name="map_file_path" type="string" value=" " />
+  <param name="filter_parameter_corner" type="double" value="0.1" />
+  <param name="filter_parameter_surf" type="double" value="0.2" />
+  </node>
+
+  <group if="$(arg rviz)">
+    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find livox_mapping)/rviz_cfg/loam_livox.rviz" />
+  </group>
+
+</launch>

launch/mapping_outdoor.launch

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+<launch>
+
+  <arg name="rviz" default="true" />
+
+  <node pkg="livox_mapping" type="loam_scanRegistration" name="scanRegistration" output="screen">
+  </node>
+
+  <node pkg="livox_mapping" type="loam_laserMapping" name="laserMapping" output="screen">
+  <param name="map_file_path" type="string" value=" " />
+  <param name="filter_parameter_corner" type="double" value="0.2" />
+  <param name="filter_parameter_surf" type="double" value="0.4" />
+  </node>
+
+  <group if="$(arg rviz)">
+    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find livox_mapping)/rviz_cfg/loam_livox.rviz" />
+  </group>
+
+</launch>

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>livox_mapping</name>
+  <version>0.0.0</version>
+
+  <description>
+    This is a modified version of LOAM which is original algorithm
+    is described in the following paper:
+    J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.
+      Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014.
+  </description>
+
+  <maintainer email="dev@livoxtech.com">claydergc</maintainer>
+
+  <license>BSD</license>
+
+  <author email="zhangji@cmu.edu">Ji Zhang</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>livox_ros_driver</build_depend>
+
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>pcl_ros</run_depend>
+  <run_depend>livox_ros_driver</run_depend>
+
+  <test_depend>rostest</test_depend>
+  <test_depend>rosbag</test_depend>
+
+  <export>
+  </export>
+</package>