VLP-16 velodyne + kinect dk 复现 LeGO-LOAM

参考

使用自己的激光雷达/数据集运行lego_loam,修改代码教程_和道一文字_的博客-CSDN博客

LeGO-LOAM 编译安装与运行_Yeah2333的博客-CSDN博客_lego-loam运行

一.配置VLP16

sudo apt-get install ros-melodic-velodyne
cd catkin_ws/src
git clone https://github.com/ros-drivers/velodyne.git
cd ..
rosdep install --from-paths src --ignore-src --rosdistro melodic -y
catkin_make

二.安装gtsam库

sudo apt-get install libparmetis-dev
sudo apt-get install libboost-all-dev
sudo apt-get install cmake
cd ~
git clone https://bitbucket.org/gtborg/gtsam.git
cd ~/gtsam
mkdir build
cd build
cmake ..
make check   
sudo  make install

三.下载LOAM

git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd catkin_ws
catkin_make -j1
source ~/devel/setup.bash

四.修改LeGO-LOAM参数

1.include中的utility.h文件：

改    extern const string imuTopic = "/imu";

2.改imageProjection.cpp

取消该行注释：     cloudHeader.stamp = ros::Time::now();

3.run.launch文件改




运行bag时为true

五.运行LeGO-LOAM

启动dk

roslaunch azure_kinect_ros_driver driver.launch

启动激光雷达

roslaunch velodyne_pointcloud VLP16_points.launch

启动LeGO-LOAM

roslaunch lego_loam run.launch