└── README.md


/README.md:
--------------------------------------------------------------------------------
 1 | # LIO-FUSION
 2 | 
 3 | **A reinforced LiDAR inertial odometry system that effectively fuses GNSS/relocalization and wheel odometry to provide accurate and robust 6-DoF movement estimation under challenging perceptual conditions. A video of the demonstration of the method can be found on [YouTube](https://youtu.be/BB8chVWX7cA).**
 4 | 
 5 | **Authors:** Wenhong Wu, Xunyu Zhong*, Dongjie Wu, Bushi Chen, Xungao Zhong and Qiang Liu
 6 | 
 7 | ## Menu
 8 | 
 9 |   - [**System architecture**](#system-architecture)
10 | 
11 |   - [**Package dependency**](#dependency)
12 | 
13 |   - [**Package install**](#install)
14 |   
15 |   - [**Gazebo simulation**](#Gazebo_simulation)
16 | 
17 |   - [**Sample datasets**](#sample-daasets)
18 | 
19 |   - [**Run the package**](#run-the-package)
20 | 
21 | ## System architecture
22 | 
23 | ## Dependency
24 | ```
25 | git clone https://github.com/borglab/gtsam.git
26 | mkdir build && cd build
27 | cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
28 | sudo make install -j4
29 | ```
30 | ## Install
31 | 
32 | Use the following commands to download and compile the package.
33 | 
34 | ```
35 | cd ~/catkin_ws/src
36 | git clone wwenhongich/LIO-FUSION.git
37 | cd ..
38 | catkin_make
39 | ```
40 | 
41 | ## Gazebo_simulation
42 | 
43 | ## Sample datasets
44 | 
45 | 
46 | ## Run the package
47 | 
48 | 1. Run the launch file:
49 | ```
50 | roslaunch lio_fusion fusion.launch
51 | ```
52 | 
53 | 2. Play existing bag files:
54 | ```
55 | rosbag play your-bag.bag 
56 | ```
57 | 
58 | 


--------------------------------------------------------------------------------