Re: icp_odometry with LOAM crash

Posted by huibuh on Sep 09, 2021; 9:00am
URL: http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8551.html

Hi Mat

Thanks for looking into the LOAM crash issue again. As I wasn't able to get LOAM to work, I looked around what other state of the art 3D LIDAR odometry solutions are out there for ROS. I ended up using a fork of the very recently released F-LOAM implementation for ROS, see all the details here: https://github.com/flynneva/floam (also check out this related conversation here: https://github.com/wh200720041/floam/issues/37#issuecomment-915412576).

F-LOAM works extremely well for me. I can run the Ouster OS0-64 at 20Hz and get 20 Hz odom rate from the floam node while it only utilizes approx 60% of one of the NUC cores. It also deals extremely well with difficult scenarios (long, narrow corridors and tight spaces for example).

The maps produced by rtabmap also looks better than ever due to the improved odometry.

Regards,

Heiko