/window_lego_loam

3D point cloud SLAM in Window 10 environment

Primary LanguageC++

3D point cloud in Window 10 environment

  • Velodyne publish in real-time using PCL::VLPGrabber
  • Publish velodyne point cloud in ROS (melodic, window)
  • running 1. mapping and 2. global localization with prebuilt map

0. Download source code and build

cd src && git clone --recursive https://github.com/haeyeoni/window_lego_loam
cd .. && catkin_make
devel\setup.bat

1. Publish velodyne point cloud topic

roslaunch publish_velodyne test.launch

2. Run LeGO-LOAM (Mapping)

roslaunch lego_loam run_mapping_nodelet.launch

3. Run Particle Filter (Localization)

roslaunch lego_loam run_mapping_nodele.launch

Detailed inforamtion is documented in global-LeGO-LOAM repository