/lego_loam_docker

Ubuntu 18.04 + ROS melodic

Primary LanguageDockerfile

LeGO-LOAM docker

How to use

# login
bash run.sh

# test if opengl is working 
glxgears

# Run LeGO-LOAM
source ~/catkin_ws/devel/setup.bash
roslaunch lego_loam run.launch

Open another terminal

# login into same container
bash login.sh

# Play rosbag
rosbag play *.bag --clock --topic /velodyne_points /imu/data
## or if you wanna remap topic
rosbag play *.bag --clock /points_raw:=/velodyne_points

Save map

rosrun pcl_ros pointcloud_to_pcd input:=/laser_cloud_surround