Sample data at https://www.dropbox.com/s/v4cth3z7hrqjsvf/raw-perch-loop-2021-09-06-17-22-06.bag?dl=0
Clone https://github.com/versatran01/ouster_decoder
Open rviz using the config in launch/llol.rviz
First run ouster driver
roslaunch ouster_decoder driver.launch
Then run ouster decoder
roslaunch ouster_decoder decoder.launch
Then run odom
roslaunch llol llol.launch
Run bag.
See CMakeLists.txt for dependencies.
To run multithread and show timing every 5s do
roslaunch llol llol.launch tbb:=1 log:=5
This is the open-source version, some advanced features may be missing.
LLOL: Low-Latency Odometry for Spinning Lidars
Chao Qu, Shreyas S. Shivakumar, Wenxin Liu, Camillo J. Taylor