Xu Liu

Make local voxel map z-axis center aligned with robot odometry z

11

Currently, the global and local map z-axis ranges are assumed to be the same (or very similar). Therefore, the bottom (i.e. z-axis origin) of the local voxel map is just...

Make the voxel map's default values for occupied, unknown and free voxels as parameters in VoxelMap.msg

12

Currently, the default values for occupied, even, unknown and free voxels are hard-coded, respectively, as val_occ, val_even, val_unkonwn, and val_free. The planner and mapper have a consensus on the hard-coded...

Reliable integration of GPS into autonomy stack

1

It would be good to test and compare the odometry performance with different combinations of sensors, including (1) stereo-VIO-only (2) stereo-VIO + GPS. One option is to directly feed GPS...

Reliable integration of LIDAR odometry into autonomy stack

1

We have tried the integration of LIDAR odometry into UKF, using [LLOL](https://github.com/versatran01/llol). We successfully flew waypoint missions, using LIDAR only for both odometry and mapping (i.e. no cameras were needed...

Reinitialize the global and storage maps to be centered around the robot after it moves a certain distance, so that the robot can handle arbitrarily large environments

Currently, the mapper is a node that keeps publishing global and local maps regardless of whether any node is using them. This results in unnecessary message publication and computation (e.g....

Computation and memory usage surge after running for a long time (10-20 mins)

3

Thanks for releasing this powerful LIDAR odometry stack! We have been trying to incorporate this into our autonomy stack (see here: https://github.com/KumarRobotics/kr_autonomous_flight), and performing lots of experiments onboard our UAVs....