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
/Modified by Chuanzhe Suo/
- Added the support to RS_lidar_32(Robosense Tech)(You can support RS_16 also just need change one line)
- Modified the roslaunch file to launch
Running:
For RS-Lidar-32
$ roslaunch loam_velodyne loam_velodyne.launch
$ roslaunch loam_velodyne loam_velodyne.launch lidartype:=RS-16(for RS-16)
$ roslaunch rslidar_pointcloud rs_lidar_32.launch
$ roslaunch rslidar_pointcloud rs_lidar_16.launch(for RS-16)
(or other launch file read from pcap file. The pointcloud topic is "/rslidar_points")
For Velodyne
You need modify the launch file to change remap. change the topic you used. and run
$ roslaunch loam_velodyne loam_velodyne.launch lidartype:=HDL-32 (options: VLP-16 HDL-32 HDL-64E RS-32 RS-16)
Then play the bag or launch the velodyne lidar you used.
/Original Author/
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/laboshinl/Downloads/velodyne.pcap"
Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications. Derek Anthony Wolfe