I built a Windows LIO app for processing ROS1 LiDAR-IMU bags without installing ROS(reddit.com)

Hi everyone, I built OnSLAM, a Windows application that runs a LiDAR-inertial odometry and mapping pipeline directly on ROS1 bag files. The main idea is to make it easier for beginners, researchers, or anyone quickly testing datasets to go from a LiDAR-IMU bag to a point-cloud map without setting up Linux, ROS, Python environments, dependencies, or terminal commands. You install the .exe, launch it, and it opens a simple browser-based interface. The interface runs locally, so your bag files and processing data never leave your computer. OnSLAM can currently: inspect ROS1 bags for compatible LiDAR and IMU topics let you configure topics, extrinsics, time offsets, frame limits, and processing quality filter and downsample scans use IMU data as a motion prior align scans to a cached local submap using point-to-plane ICP display the map, trajectory, and tracking quality live export PLY, PCD, and dense point-cloud maps decode Livox CustomMsg data I am currently looking for people who can test it on different sensors, bag structures, and datasets. Bug reports, feature suggestions, and especially bags that fail to process would be really helpful. GitHub: https://github.com/musabali314/OnSLAM Download: https://github.com/musabali314/OnSLAM/releases Promise, the .exe is not a virus. Windows may still act suspicious because it is unsigned 😭 I am considering ROS2 .db3 support next, followed by possible camera or visual-inertial inputs. Which one would be more useful to you? submitted by /u/TaxOk8369 [link] [Kommentare]