Ouster´s web SLAM online

Ivan_Tochev

Hi all,
you can try Ouster´s web SLAM algorithm here. After uploading a recorded ROS .bag or .pcap files you can get both video and a 3D .ply file. Only data strings from Ouster sensors are processed.

ouster-slam-general-laser.jpeg

kristianpaul

Ivan_Tochev Do you provide something to process offline? My bag file is 60G in size its hard to upload

gguevara

Hi, I am trying to upload files to web slam without success, I uploaded .bag file and after some code running in the page I get this final message: No lidar and imu packets found.

I recorded the .bag file after this commands:
roslaunch os1.launch os1_hostname:=192.168.1.101 os1_udp_dest:=192.168.1.100 lidar_mode:=1024x10 viz:=false
rosbag record /os1_cloud_node/imu /os1_cloud_node/points

Do you know if there is something wrong with the record?

dllu

Hi, gguevara author of Ouster's SLAM algorithm here.

Mohit's answer is incorrect.

The reason is that you have recorded the wrong topics. Web SLAM only works with packet messages, which you can record with:

rosbag record /os1_node/lidar_packets /os1_node/imu_packets

Mohit

Hi @gguevara,
One of the reasons you see this error, could be wrong beam angle params, please make sure they are correct.

farid

dllu Before uploading file.bag in webslam, one can also ensure /os1_node/lidar_packets and /os1_node/imu_packets exist with command: $ rosbag info -y path/2/file.bag

path: file.bag
version: 2.0
duration: 64.547519
start: 1557254397.027880
end: 1557254461.575399
size: 524371741
messages: 47768
indexed: True
compression: none
types:
    - type: ouster_ros/PacketMsg
      md5: 4f7b5949e76f86d01e96b0e33ba9b5e3
topics:
    - topic: /os1_node/imu_packets <--- YOU SHOULD SEE THIS!
      type: ouster_ros/PacketMsg
      messages: 6456
    - topic: /os1_node/lidar_packets <--- YOU SHOULD SEE THIS!
      type: ouster_ros/PacketMsg
      messages: 41312

gguevara

dllu Thank you, it work now with the correct packets, the video looks great, but when open the point cloud it looks misaligned. I am going to make new test to check this again.

farid

I am also getting this error!
No Lidar and IMU packets found!

farid

Is this SLAM algorithm open source btw?

bobjob

Ouster really need to look at a proper slam package. Although I use ROS many users don't. It just adds many more layers of complexity that most don't need the headache. Have ouster thought of contacting developers or incorporating existing slam/loam packages? Rtabmap and RTmap would be a good start or go straight to LeGO-Loam. Otherwise ouster studio is just for making pretty films and pictures with very little use case and basically only good for TLS.

farid

bobjob Ouster lidar IMU is not supported in the LeGO-LOAM as it needs a 9-DOF IMU.
Currently, LeGO-LOAM is not compatible with a 6-axis IMU because it needs roll, pitch, and yaw information to correct the pose. I think lio-mapping works with Ouster lidar as it works with a 6-axis IMU.

bobjob

farid I fully appreciate that LeGO-LOAM is 9-DOF and aware of alternative loam software. My point is that the ouster studio is for the most part useless even considering it is built on paraview. What can a user actually do with it?.....not alot. Measure a few points or make short pcap file. Things that can be done on ROS and use slam at the same time. It's just frustrating having spent a lot of money on a sensor that is only half working having been made to believe it is the latest and greatest when it clearly is not and the whole operation needs some serious development. Furthermore to have to go and spend yet more money on an imu because the one provided might as well be a rubber glove and seems to be nothing more than a pointless gesture is a bit of a joke.

farid

bobjob u're actually quite right. we also spent 8K$ for OS1-64 and now changing from SLAM to SLAM to see if we can make it work eventually. I guess Ouster needs some revision on its strategies.

Mohit

Hi @kristianpaul
At the moment it is only possible to process it online.
As soon as there is news, you will be updated about it in Forum.

affi

@Ivan_Tochev Thanks for this.

Sorry If my question makes you think that I am stupid but It is good to be now then rest of my life.

I have around 40 GB of bag recorded data for almost 10 minutes, I cannot upload this much of data. Is webslam source code available some where on the Github? Because it is very difficult for me to use it? Is there any recommendation you would give me how to proceed with this software.

Thanks,
Affi

chinitaberrio

Any news about an offline implementation?