/velodyne_wt61c-ros

ROS Docker container for evaluating Velodyne LIDAR + WT61C IMU Sensor

Primary LanguageCMakeMIT LicenseMIT

velodyne_wt61c-ros

Velodyne_Puck 60555d711b5d1

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

References