velodyne_wt61c-ros
How to Build
Ubuntu Native (Bionic + ROS Melodic)
# 1. Install dependencies
sudo apt-get install ros-melodic-velodyne ros-melodic-serial
# 2. Clone source code
git clone --recursive https://github.com/Hyun-je/velodyne_wt61c-ros ~/catkin_ws/src
# 3. Run catkin_make
cd ~/catkin_ws && catkin_make
Docker
# 1. Clone source code
git clone --recursive https://github.com/Hyun-je/velodyne_wt61c-ros
# 2. Build Dockerfile
docker build -t ros:velodyne_wt61c .
# 3. Run docker container
xhost +local:docker # allow docker gui mode (Ubuntu)
docker run -it --privileged --env=DISPLAY --network=host -v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix -v ~/rosbag:/root/rosbag ros:velodyne_wt61c
How to Use
Monitor
Run rviz only
roslaunch velodyne_wt61c monitor.launch
Record
Run rviz & rosbag. bag files will be saved in /root/rosbag
.
roslaunch velodyne_wt61c record.launch
SLAM
Run Cartographer SLAM
roslaunch velodyne_wt61c slam_online.launch