Hi everyone,
I recently released OnSLAM, an open-source Windows application for running LiDAR-inertial odometry and mapping on ROS1 bag files.
It automatically detects compatible LiDAR and IMU topics, runs the mapping pipeline locally, visualizes the trajectory and point-cloud map in the browser, and exports PLY and PCD files.
The main goal is to make it easier to inspect datasets, demonstrate LIO mapping, and generate maps without rebuilding a complete Linux and ROS environment.
The project is still early, and I am looking for users willing to test it with different sensors and datasets.
Demo: https://youtu.be/VGmrXOI95Uo?si=oqzMvNMH3C0D9Zje
I would especially appreciate feedback from anyone using Livox, Ouster, Velodyne, or Hesai data.