A-LOAM_ouster

Advanced implementation of LOAM - With Ouster LIDAR

A-LOAM_ouster is and modified version of A-LOAM, which uses Ouster LIDAR instead of velodyne.
This code has been fixed by a junior developer, which could cause unexpected problems. (It works fine in my environment at this point.)
If you ask for a pull request in case of a problem, we will actively reflect it.

Modifier: reason-rock

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 20.04 ROS Foxy

1.2. Ceres Solver

Follow Ceres Installation.

1.3. PCL

Follow PCL Installation.

2. Build A-LOAM_ouster

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/reason-rock/A-LOAM_ouster
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3. Run with bagfile(or live Sensor Data)

Prepare Data of OS1-32

    roslaunch aloam_velodyne aloam_ouster.launch
    rosbag play YOUR_DATASET_FOLDER/YOUR_BAGFILE

6.Acknowledgements

Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and LOAM_NOTED.
Thanks for A-LOAM(Tong Qin, Shaozu Cao)