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/

1. Added the support to RS_lidar_32(Robosense Tech)(You can support RS_16 also just need change one line)
2. 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"

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Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications. Derek Anthony Wolfe

ROS & Loam_velodyne