laboshinl / Loam_velodyne
Licence: other
Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
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loam_velodyne
Sample map built from nsh_indoor_outdoor.bag (opened with ccViewer)
✅ Tested with ROS Indigo and Velodyne VLP16. (Screencast)
All sources were taken from ROS documentation
Ask questions here.
How to build with catkin
$ cd ~/catkin_ws/src/
$ git clone https://github.com/laboshinl/loam_velodyne.git
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ~/catkin_ws/devel/setup.bash
Running
roslaunch loam_velodyne loam_velodyne.launch
In second terminal play sample velodyne data from VLP16 rosbag:
rosbag play ~/Downloads/velodyne.bag
Or read from velodyne VLP16 sample pcap:
roslaunch velodyne_pointcloud VLP16_points.launch pcap:="$HOME/Downloads/velodyne.pcap"
Troubleshooting
multiScanRegistration crashes right after playing bag file
Issues #71 and
#7 address this
problem. The current known solution is to build the same version of PCL that
you have on your system from source, and set the CMAKE_PREFIX_PATH
accordingly so that catkin can find it. See this
issue
for more details.
Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications. Derek Anthony Wolfe
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